From a2e1867f69ec2d703a9651e5c36a02b0e14dfd9c Mon Sep 17 00:00:00 2001 From: Jeff Epler Date: Thu, 20 Aug 2020 11:08:00 -0500 Subject: _canio: Minimal implementation for SAM E5x MCUs Tested & working: * Send standard packets * Receive standard packets (1 FIFO, no filter) Interoperation between SAM E54 Xplained running this tree and MicroPython running on STM32F405 Feather with an external transceiver was also tested. Many other aspects of a full implementation are not yet present, such as error detection and recovery. --- main.c | 8 ++++++++ 1 file changed, 8 insertions(+) (limited to 'main.c') diff --git a/main.c b/main.c index 5b719dc4b..f259fea3f 100755 --- a/main.c +++ b/main.c @@ -81,6 +81,10 @@ #include "supervisor/shared/bluetooth.h" #endif +#if CIRCUITPY_CANIO +#include "common-hal/_canio/CAN.h" +#endif + void do_str(const char *src, mp_parse_input_kind_t input_kind) { mp_lexer_t *lex = mp_lexer_new_from_str_len(MP_QSTR__lt_stdin_gt_, src, strlen(src), 0); if (lex == NULL) { @@ -226,6 +230,10 @@ void cleanup_after_vm(supervisor_allocation* heap) { free_memory(heap); supervisor_move_memory(); + #ifdef CIRCUITPY_CANIO + common_hal_canio_reset(); + #endif + reset_port(); #if CIRCUITPY_BOARD reset_board_busses(); -- cgit v1.2.3 From ca32a81bf11301b2aea4fb2a91991dcfecd14902 Mon Sep 17 00:00:00 2001 From: Jeff Epler Date: Wed, 16 Sep 2020 12:18:55 -0500 Subject: main.c: Correct CANIO if-guard --- main.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'main.c') diff --git a/main.c b/main.c index f259fea3f..4d34e451d 100755 --- a/main.c +++ b/main.c @@ -230,7 +230,7 @@ void cleanup_after_vm(supervisor_allocation* heap) { free_memory(heap); supervisor_move_memory(); - #ifdef CIRCUITPY_CANIO + #if CIRCUITPY_CANIO common_hal_canio_reset(); #endif -- cgit v1.2.3 From 4869dbdc670bfa8a5f2e0a639495d03984ea0a6a Mon Sep 17 00:00:00 2001 From: Jeff Epler Date: Mon, 21 Sep 2020 16:42:12 -0500 Subject: canio: rename from _canio This reflects our belief that the API is stable enough to avoid incompatible changes during 6.x. --- main.c | 2 +- ports/atmel-samd/common-hal/_canio/CAN.c | 445 -------------------------- ports/atmel-samd/common-hal/_canio/CAN.h | 55 ---- ports/atmel-samd/common-hal/_canio/Listener.c | 391 ---------------------- ports/atmel-samd/common-hal/_canio/Listener.h | 53 --- ports/atmel-samd/common-hal/_canio/__init__.c | 25 -- ports/atmel-samd/common-hal/_canio/__init__.h | 67 ---- ports/atmel-samd/common-hal/canio/CAN.c | 445 ++++++++++++++++++++++++++ ports/atmel-samd/common-hal/canio/CAN.h | 55 ++++ ports/atmel-samd/common-hal/canio/Listener.c | 391 ++++++++++++++++++++++ ports/atmel-samd/common-hal/canio/Listener.h | 53 +++ ports/atmel-samd/common-hal/canio/__init__.c | 25 ++ ports/atmel-samd/common-hal/canio/__init__.h | 67 ++++ py/circuitpy_defns.mk | 14 +- py/circuitpy_mpconfig.h | 2 +- shared-bindings/_canio/CAN.c | 422 ------------------------ shared-bindings/_canio/CAN.h | 54 ---- shared-bindings/_canio/Listener.c | 193 ----------- shared-bindings/_canio/Listener.h | 31 -- shared-bindings/_canio/Match.c | 139 -------- shared-bindings/_canio/Match.h | 37 --- shared-bindings/_canio/Message.c | 212 ------------ shared-bindings/_canio/Message.h | 44 --- shared-bindings/_canio/__init__.c | 124 ------- shared-bindings/_canio/__init__.h | 33 -- shared-bindings/canio/CAN.c | 422 ++++++++++++++++++++++++ shared-bindings/canio/CAN.h | 54 ++++ shared-bindings/canio/Listener.c | 193 +++++++++++ shared-bindings/canio/Listener.h | 31 ++ shared-bindings/canio/Match.c | 139 ++++++++ shared-bindings/canio/Match.h | 37 +++ shared-bindings/canio/Message.c | 212 ++++++++++++ shared-bindings/canio/Message.h | 44 +++ shared-bindings/canio/__init__.c | 124 +++++++ shared-bindings/canio/__init__.h | 33 ++ shared-module/_canio/Match.c | 43 --- shared-module/_canio/Match.h | 36 --- shared-module/_canio/Message.c | 101 ------ shared-module/_canio/Message.h | 38 --- shared-module/canio/Match.c | 43 +++ shared-module/canio/Match.h | 36 +++ shared-module/canio/Message.c | 101 ++++++ shared-module/canio/Message.h | 38 +++ 43 files changed, 2552 insertions(+), 2552 deletions(-) delete mode 100644 ports/atmel-samd/common-hal/_canio/CAN.c delete mode 100644 ports/atmel-samd/common-hal/_canio/CAN.h delete mode 100644 ports/atmel-samd/common-hal/_canio/Listener.c delete mode 100644 ports/atmel-samd/common-hal/_canio/Listener.h delete mode 100644 ports/atmel-samd/common-hal/_canio/__init__.c delete mode 100644 ports/atmel-samd/common-hal/_canio/__init__.h create mode 100644 ports/atmel-samd/common-hal/canio/CAN.c create mode 100644 ports/atmel-samd/common-hal/canio/CAN.h create mode 100644 ports/atmel-samd/common-hal/canio/Listener.c create mode 100644 ports/atmel-samd/common-hal/canio/Listener.h create mode 100644 ports/atmel-samd/common-hal/canio/__init__.c create mode 100644 ports/atmel-samd/common-hal/canio/__init__.h delete mode 100644 shared-bindings/_canio/CAN.c delete mode 100644 shared-bindings/_canio/CAN.h delete mode 100644 shared-bindings/_canio/Listener.c delete mode 100644 shared-bindings/_canio/Listener.h delete mode 100644 shared-bindings/_canio/Match.c delete mode 100644 shared-bindings/_canio/Match.h delete mode 100644 shared-bindings/_canio/Message.c delete mode 100644 shared-bindings/_canio/Message.h delete mode 100644 shared-bindings/_canio/__init__.c delete mode 100644 shared-bindings/_canio/__init__.h create mode 100644 shared-bindings/canio/CAN.c create mode 100644 shared-bindings/canio/CAN.h create mode 100644 shared-bindings/canio/Listener.c create mode 100644 shared-bindings/canio/Listener.h create mode 100644 shared-bindings/canio/Match.c create mode 100644 shared-bindings/canio/Match.h create mode 100644 shared-bindings/canio/Message.c create mode 100644 shared-bindings/canio/Message.h create mode 100644 shared-bindings/canio/__init__.c create mode 100644 shared-bindings/canio/__init__.h delete mode 100644 shared-module/_canio/Match.c delete mode 100644 shared-module/_canio/Match.h delete mode 100644 shared-module/_canio/Message.c delete mode 100644 shared-module/_canio/Message.h create mode 100644 shared-module/canio/Match.c create mode 100644 shared-module/canio/Match.h create mode 100644 shared-module/canio/Message.c create mode 100644 shared-module/canio/Message.h (limited to 'main.c') diff --git a/main.c b/main.c index 4d34e451d..dbd367a59 100755 --- a/main.c +++ b/main.c @@ -82,7 +82,7 @@ #endif #if CIRCUITPY_CANIO -#include "common-hal/_canio/CAN.h" +#include "common-hal/canio/CAN.h" #endif void do_str(const char *src, mp_parse_input_kind_t input_kind) { diff --git a/ports/atmel-samd/common-hal/_canio/CAN.c b/ports/atmel-samd/common-hal/_canio/CAN.c deleted file mode 100644 index 0d967d7ca..000000000 --- a/ports/atmel-samd/common-hal/_canio/CAN.c +++ /dev/null @@ -1,445 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#include - -#include "py/runtime.h" -#include "py/mperrno.h" - -#include "peripheral_clk_config.h" - -#include "common-hal/_canio/CAN.h" -#include "shared-bindings/microcontroller/Pin.h" -#include "shared-bindings/util.h" -#include "supervisor/port.h" - -#include "component/can.h" - -#include "genhdr/candata.h" - -STATIC Can * const can_insts[] = CAN_INSTS; - -STATIC canio_can_obj_t *can_objs[MP_ARRAY_SIZE(can_insts)]; - -// This must be placed in the first 64kB of RAM -STATIC COMPILER_SECTION(".canram") canio_can_state_t can_state[MP_ARRAY_SIZE(can_insts)]; - -void common_hal_canio_can_construct(canio_can_obj_t *self, mcu_pin_obj_t *tx, mcu_pin_obj_t *rx, int baudrate, bool loopback, bool silent) -{ - mcu_pin_function_t *tx_function = mcu_find_pin_function(can_tx, tx, -1, MP_QSTR_tx); - int instance = tx_function->instance; - - mcu_pin_function_t *rx_function = mcu_find_pin_function(can_rx, rx, instance, MP_QSTR_rx); - - const uint32_t can_frequency = CONF_CAN0_FREQUENCY; - -#define DIV_ROUND(a, b) (((a) + (b)/2) / (b)) -#define DIV_ROUND_UP(a, b) (((a) + (b) - 1) / (b)) - - uint32_t clocks_per_bit = DIV_ROUND(can_frequency, baudrate); - uint32_t clocks_to_sample = DIV_ROUND(clocks_per_bit * 7, 8); - uint32_t clocks_after_sample = clocks_per_bit - clocks_to_sample; - uint32_t divisor = MAX(DIV_ROUND_UP(clocks_to_sample, 256), DIV_ROUND_UP(clocks_after_sample, 128)); - if (divisor > 32) { - mp_raise_OSError(MP_EINVAL); // baudrate cannot be attained (16kHz or something is lower bound, should never happen) - } - - gpio_set_pin_direction(tx_function->pin, GPIO_DIRECTION_OUT); - gpio_set_pin_function(tx_function->pin, tx_function->function); - common_hal_never_reset_pin(tx_function->obj); - - gpio_set_pin_direction(rx_function->pin, GPIO_DIRECTION_IN); - gpio_set_pin_function(rx_function->pin, rx_function->function); - common_hal_never_reset_pin(rx_function->obj); - - self->tx_pin_number = tx ? common_hal_mcu_pin_number(tx) : COMMON_HAL_MCU_NO_PIN; - self->rx_pin_number = rx ? common_hal_mcu_pin_number(rx) : COMMON_HAL_MCU_NO_PIN; - self->hw = can_insts[instance]; - self->state = &can_state[instance]; - - self->loopback = loopback; - self->silent = silent; - - // Allow configuration change - hri_can_set_CCCR_INIT_bit(self->hw); - while (hri_can_get_CCCR_INIT_bit(self->hw) == 0) { - } - hri_can_set_CCCR_CCE_bit(self->hw); - - if (instance == 0) { - hri_mclk_set_AHBMASK_CAN0_bit(MCLK); - hri_gclk_write_PCHCTRL_reg(GCLK, CAN0_GCLK_ID, CONF_GCLK_CAN0_SRC | (1 << GCLK_PCHCTRL_CHEN_Pos)); - - NVIC_DisableIRQ(CAN0_IRQn); - NVIC_ClearPendingIRQ(CAN0_IRQn); - NVIC_EnableIRQ(CAN0_IRQn); - hri_can_write_ILE_reg(self->hw, CAN_ILE_EINT0); -#ifdef CAN1_GCLK_ID - } else if (instance == 1) { - hri_mclk_set_AHBMASK_CAN1_bit(MCLK); - hri_gclk_write_PCHCTRL_reg(GCLK, CAN1_GCLK_ID, CONF_GCLK_CAN1_SRC | (1 << GCLK_PCHCTRL_CHEN_Pos)); - - NVIC_DisableIRQ(CAN1_IRQn); - NVIC_ClearPendingIRQ(CAN1_IRQn); - NVIC_EnableIRQ(CAN1_IRQn); - hri_can_write_ILE_reg(self->hw, CAN_ILE_EINT0); -#endif - } - - self->hw->CCCR.bit.FDOE = 0; // neither FD nor Bit Rate Switch enabled - self->hw->CCCR.bit.BRSE = 0; - - hri_can_write_MRCFG_reg(self->hw, CAN_MRCFG_QOS(CAN_MRCFG_QOS_DISABLE_Val)); // QoS disabled (no sensitive operation) - - // A "nominal bit" is a header bit. With dual rate CAN FD, this is a slower rate - { - CAN_NBTP_Type btp = { - // 0 means "1 tq", but 2 is subtracted from NTSEG1 for the - // fixed 1 "SYNC" tq - .bit.NTSEG1 = DIV_ROUND(clocks_to_sample, divisor) - 2, - .bit.NTSEG2 = DIV_ROUND(clocks_after_sample, divisor) - 1, - .bit.NBRP = divisor - 1, - .bit.NSJW = DIV_ROUND(clocks_after_sample, divisor * 4), - }; - hri_can_write_NBTP_reg(self->hw, btp.reg); - } - - // A "data bit" is a data bit :) with dula rate CAN FD, this is a higher - // rate. However, CAN FD is not implemented in CircuitPython, and this is - // the same rate as the "nominal rate". - { - CAN_DBTP_Type btp = { - .bit.DTSEG1 = DIV_ROUND(clocks_to_sample, divisor) - 1, - .bit.DTSEG2 = DIV_ROUND(clocks_after_sample, divisor) - 1, - .bit.DBRP = divisor - 1, - .bit.DSJW = DIV_ROUND(clocks_after_sample, divisor * 4), - }; - hri_can_write_DBTP_reg(self->hw, btp.reg); - } - - { - CAN_RXF0C_Type rxf = { - .bit.F0SA = (uint32_t)self->state->rx0_fifo, - .bit.F0S = COMMON_HAL_CANIO_RX_FIFO_SIZE, - }; - hri_can_write_RXF0C_reg(self->hw, rxf.reg); - } - - { - CAN_RXF1C_Type rxf = { - .bit.F1SA = (uint32_t)self->state->rx1_fifo, - .bit.F1S = COMMON_HAL_CANIO_RX_FIFO_SIZE, - }; - hri_can_write_RXF1C_reg(self->hw, rxf.reg); - } - - // All RX data has an 8 byte payload (max) - { - CAN_RXESC_Type esc = { - .bit.F0DS = CAN_RXESC_F0DS_DATA8_Val, - .bit.F1DS = CAN_RXESC_F1DS_DATA8_Val, - .bit.RBDS = CAN_RXESC_RBDS_DATA8_Val, - }; - hri_can_write_RXESC_reg(self->hw, esc.reg); - } - - // All TX data has an 8 byte payload (max) - { - CAN_TXESC_Type esc = { - .bit.TBDS = CAN_TXESC_TBDS_DATA8_Val, - }; - hri_can_write_TXESC_reg(self->hw, esc.reg); - } - - { - CAN_TXBC_Type bc = { - .bit.TBSA = (uint32_t)self->state->tx_fifo, - .bit.NDTB = COMMON_HAL_CANIO_TX_FIFO_SIZE, - .bit.TFQM = 0, // Messages are transmitted in the order submitted - }; - hri_can_write_TXBC_reg(self->hw, bc.reg); - } - - { - CAN_TXEFC_Type efc = { - .bit.EFS = 0, - }; - hri_can_write_TXEFC_reg(self->hw, efc.reg); - } - - { - CAN_GFC_Type gfc = { - .bit.RRFE = 1, - .bit.ANFS = CAN_GFC_ANFS_REJECT_Val, - .bit.ANFE = CAN_GFC_ANFE_REJECT_Val, - }; - hri_can_write_GFC_reg(self->hw, gfc.reg); - } - - { - CAN_SIDFC_Type dfc = { - .bit.LSS = COMMON_HAL_CANIO_RX_FILTER_SIZE, - .bit.FLSSA = (uint32_t)self->state->standard_rx_filter - }; - hri_can_write_SIDFC_reg(self->hw, dfc.reg); - } - - { - CAN_XIDFC_Type dfc = { - .bit.LSE = COMMON_HAL_CANIO_RX_FILTER_SIZE, - .bit.FLESA = (uint32_t)self->state->extended_rx_filter - }; - hri_can_write_XIDFC_reg(self->hw, dfc.reg); - } - - { - CAN_IE_Type ie = { - .bit.EWE = 1, - .bit.EPE = 1, - .bit.BOE = 1, - }; - hri_can_write_IE_reg(self->hw, ie.reg); - } - - hri_can_write_XIDAM_reg(self->hw, CAN_XIDAM_RESETVALUE); - -// silent: The CAN is set in Bus Monitoring Mode by programming CCCR.MON to '1'. (tx pin unused) -// external loopback: The CAN can be set in External Loop Back Mode by programming TEST.LBCK and CCCR.MON to '1'. (rx pin unused) -// internal loopback (silent loopback): Internal Loop Back Mode is entered by programming bits TEST.LBCK and CCCR.MON to '1'. (tx, rx unused) - self->hw->CCCR.bit.MON = silent; - self->hw->CCCR.bit.TEST = loopback; - self->hw->TEST.bit.LBCK = loopback; - - if (instance == 0) { - NVIC_DisableIRQ(CAN0_IRQn); - NVIC_ClearPendingIRQ(CAN0_IRQn); - NVIC_EnableIRQ(CAN0_IRQn); -#ifdef CAN1_GCLK_ID - } else if (instance == 1) { - NVIC_DisableIRQ(CAN1_IRQn); - NVIC_ClearPendingIRQ(CAN1_IRQn); - NVIC_EnableIRQ(CAN1_IRQn); -#endif - } - - hri_can_write_ILE_reg(self->hw, CAN_ILE_EINT0); - // Prevent configuration change - hri_can_clear_CCCR_CCE_bit(self->hw); - hri_can_clear_CCCR_INIT_bit(self->hw); - while (hri_can_get_CCCR_INIT_bit(self->hw)) { - } - - can_objs[instance] = self; -} - -bool common_hal_canio_can_loopback_get(canio_can_obj_t *self) -{ - return self->loopback; -} - -int common_hal_canio_can_baudrate_get(canio_can_obj_t *self) -{ - return self->baudrate; -} - -int common_hal_canio_can_transmit_error_count_get(canio_can_obj_t *self) -{ - return self->hw->ECR.bit.TEC; -} - -int common_hal_canio_can_receive_error_count_get(canio_can_obj_t *self) -{ - return self->hw->ECR.bit.REC; -} - -int common_hal_canio_can_error_warning_state_count_get(canio_can_obj_t *self) -{ - return self->error_warning_state_count; -} - -int common_hal_canio_can_error_passive_state_count_get(canio_can_obj_t *self) -{ - return self->error_passive_state_count; -} - -int common_hal_canio_can_bus_off_state_count_get(canio_can_obj_t *self) -{ - return self->bus_off_state_count; -} - -canio_bus_state_t common_hal_canio_can_state_get(canio_can_obj_t *self) { - CAN_PSR_Type psr = self->hw->PSR; - if (psr.bit.BO) { - return BUS_STATE_OFF; - } - if (psr.bit.EP) { - return BUS_STATE_ERROR_PASSIVE; - } - if (psr.bit.EW) { - return BUS_STATE_ERROR_WARNING; - } - return BUS_STATE_ERROR_ACTIVE; -} - -void common_hal_canio_can_restart(canio_can_obj_t *self) { - if (!self->hw->PSR.bit.BO) { - return; - } - - hri_can_clear_CCCR_INIT_bit(self->hw); - while (hri_can_get_CCCR_INIT_bit(self->hw)) { - } -} - -bool common_hal_canio_can_auto_restart_get(canio_can_obj_t *self) { - return self->auto_restart; -} - -void common_hal_canio_can_auto_restart_set(canio_can_obj_t *self, bool value) { - self->auto_restart = value; -} - -static void maybe_auto_restart(canio_can_obj_t *self) { - if (self->auto_restart) { - common_hal_canio_can_restart(self); - } -} - -void common_hal_canio_can_send(canio_can_obj_t *self, canio_message_obj_t *message) -{ - maybe_auto_restart(self); - - // We have just one dedicated TX buffer, use it! - canio_can_fifo_t *ent = &self->state->tx_fifo[0]; - - ent->txb0.bit.ESI = false; - ent->txb0.bit.XTD = message->extended; - ent->txb0.bit.RTR = message->rtr; - if (message->extended) { - ent->txb0.bit.ID = message->id << 18; - } else { - ent->txb0.bit.ID = message->id << 18; // short addresses are left-justified - } - - ent->txb1.bit.MM = 0; // "message marker" - ent->txb1.bit.EFC = 0; // don't store fifo events to event queue - ent->txb1.bit.FDF = 0; // Classic CAN format - ent->txb1.bit.BRS = 0; // No bit rate switching - ent->txb1.bit.DLC = message->size; - - if (!message->rtr) { - memcpy(ent->data, message->data, message->size); - } - - // TX buffer add request - self->hw->TXBAR.reg = 1; - - // wait 8ms (hard coded for now) for TX to occur - uint64_t deadline = port_get_raw_ticks(NULL) + 8; - while (port_get_raw_ticks(NULL) < deadline && !(self->hw->TXBTO.reg & 1)) { - RUN_BACKGROUND_TASKS; - } -} - -bool common_hal_canio_can_silent_get(canio_can_obj_t *self) { - return self->silent; -} - -bool common_hal_canio_can_deinited(canio_can_obj_t *self) { - return !self->hw; -} - -void common_hal_canio_can_check_for_deinit(canio_can_obj_t *self) { - if (common_hal_canio_can_deinited(self)) { - raise_deinited_error(); - } -} - -void common_hal_canio_can_deinit(canio_can_obj_t *self) -{ - if (self->hw) { - hri_can_set_CCCR_INIT_bit(self->hw); - self->hw = 0; - } - if (self->rx_pin_number != COMMON_HAL_MCU_NO_PIN) { - reset_pin_number(self->rx_pin_number); - self->rx_pin_number = COMMON_HAL_MCU_NO_PIN; - } - if (self->tx_pin_number != COMMON_HAL_MCU_NO_PIN) { - reset_pin_number(self->tx_pin_number); - self->tx_pin_number = COMMON_HAL_MCU_NO_PIN; - } -} - -void common_hal_canio_reset(void) { - memset(can_state, 0, sizeof(can_state)); - - for (size_t i=0; ierror_warning_state_count += 1; - } - if (ir & CAN_IE_EPE) { - self->error_passive_state_count += 1; - } - if (ir & CAN_IE_BOE) { - self->bus_off_state_count += 1; - } - - /* Acknowledge interrupt */ - hri_can_write_IR_reg(hw, ir); -} - -__attribute__((used)) -void CAN0_Handler(void) { - can_handler(0); -} - -#ifdef CAN1_GCLK_ID -__attribute__((used)) -void CAN1_Handler(void) { - can_handler(1); -} -#endif diff --git a/ports/atmel-samd/common-hal/_canio/CAN.h b/ports/atmel-samd/common-hal/_canio/CAN.h deleted file mode 100644 index 1cc34e3ac..000000000 --- a/ports/atmel-samd/common-hal/_canio/CAN.h +++ /dev/null @@ -1,55 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#pragma once - -#include "py/obj.h" -#include "shared-bindings/_canio/__init__.h" -#include "shared-bindings/_canio/CAN.h" -#include "component/can.h" -#include "common-hal/microcontroller/Pin.h" -#include "common-hal/_canio/__init__.h" -#include "shared-module/_canio/Message.h" - -#define COMMON_HAL_CAN_RX_FIFO_LEN (2) -#define COMMON_HAL_CAN_TX_FIFO_LEN (2) - -typedef struct canio_can_obj { - mp_obj_base_t base; - Can *hw; - canio_can_state_t *state; - volatile uint32_t error_warning_state_count; - volatile uint32_t error_passive_state_count; - volatile uint32_t bus_off_state_count; - int baudrate; - uint8_t rx_pin_number:8; - uint8_t tx_pin_number:8; - bool loopback:1; - bool silent:1; - bool auto_restart:1; - bool fifo0_in_use:1; - bool fifo1_in_use:1; -} canio_can_obj_t; diff --git a/ports/atmel-samd/common-hal/_canio/Listener.c b/ports/atmel-samd/common-hal/_canio/Listener.c deleted file mode 100644 index 0a5f629f8..000000000 --- a/ports/atmel-samd/common-hal/_canio/Listener.c +++ /dev/null @@ -1,391 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#include -#include - -#include "py/obj.h" -#include "py/runtime.h" - -#include "common-hal/_canio/__init__.h" -#include "common-hal/_canio/Listener.h" -#include "shared-bindings/util.h" -#include "supervisor/shared/tick.h" -#include "component/can.h" - -STATIC void allow_config_change(canio_can_obj_t *can) { - can->hw->CCCR.bit.INIT = 1; - while (!can->hw->CCCR.bit.INIT) { - } - can->hw->CCCR.bit.CCE = 1; -} - -STATIC void prevent_config_change(canio_can_obj_t *can) { - can->hw->CCCR.bit.CCE = 0; - can->hw->CCCR.bit.INIT = 0; - while (can->hw->CCCR.bit.INIT) { - } -} - -__attribute__((unused)) -STATIC void static_assertions(void) { - MP_STATIC_ASSERT(CAN_GFC_ANFE_RXF0_Val + 1 == CAN_GFC_ANFE_RXF1_Val); - MP_STATIC_ASSERT(CAN_GFC_ANFS_RXF0_Val + 1 == CAN_GFC_ANFS_RXF1_Val); - MP_STATIC_ASSERT(CAN_SIDFE_0_SFEC_STF0M_Val + 1 == CAN_SIDFE_0_SFEC_STF1M_Val); - MP_STATIC_ASSERT(CAN_XIDFE_0_EFEC_STF0M_Val + 1 == CAN_XIDFE_0_EFEC_STF1M_Val); -} - -STATIC bool single_address_filter(canio_match_obj_t *match) { - return match->mask == 0 || match->mask == match->address; -} - -STATIC bool standard_filter_in_use(CanMramSidfe *filter) { - return filter->SIDFE_0.bit.SFEC != CAN_SIDFE_0_SFEC_DISABLE_Val; -} - -STATIC bool extended_filter_in_use(CanMramXidfe *filter) { - return filter->XIDFE_0.bit.EFEC != CAN_XIDFE_0_EFEC_DISABLE_Val; -} - -STATIC size_t num_filters_needed(size_t nmatch, canio_match_obj_t **matches, bool extended) { - size_t num_half_filters_needed = 1; - for(size_t i=0; iextended) { - continue; - } - if (single_address_filter(matches[i])) { - num_half_filters_needed += 1; - } else { - num_half_filters_needed += 2; - } - } - return num_half_filters_needed / 2; -} - -STATIC size_t num_filters_available(canio_can_obj_t *can, bool extended) { - size_t available = 0; - if (extended) { - for(size_t i = 0; i < MP_ARRAY_SIZE(can->state->extended_rx_filter); i++) { - if (!extended_filter_in_use(&can->state->extended_rx_filter[i])) { - available++; - } - } - } else { - for(size_t i = 0; i < MP_ARRAY_SIZE(can->state->standard_rx_filter); i++) { - if (!standard_filter_in_use(&can->state->standard_rx_filter[i])) { - available++; - } - } - } - return available; -} - -STATIC void clear_filters(canio_listener_obj_t *self) { - canio_can_obj_t *can = self->can; - int fifo = self->fifo_idx; - - // If it was a global accept, clear it - allow_config_change(can); - if (can->hw->GFC.bit.ANFS == CAN_GFC_ANFS_RXF0 + fifo) { - can->hw->GFC.bit.ANFS = CAN_GFC_ANFS_REJECT_Val; - } - if (can->hw->GFC.bit.ANFE == CAN_GFC_ANFE_RXF0 + fifo) { - can->hw->GFC.bit.ANFE = CAN_GFC_ANFE_REJECT_Val; - } - prevent_config_change(can); - - // For each filter entry, if it pointed at this FIFO set it to DISABLE - for(size_t i = 0; i < MP_ARRAY_SIZE(can->state->extended_rx_filter); i++) { - int val = CAN_XIDFE_0_EFEC_STF0M_Val + fifo; - if (can->state->extended_rx_filter[i].XIDFE_0.bit.EFEC == val) { - can->state->extended_rx_filter[i].XIDFE_0.bit.EFEC = CAN_XIDFE_0_EFEC_DISABLE_Val; - } - } - for(size_t i = 0; i < MP_ARRAY_SIZE(can->state->standard_rx_filter); i++) { - int val = CAN_SIDFE_0_SFEC_STF1M_Val + fifo; - if (can->state->standard_rx_filter[i].SIDFE_0.bit.SFEC == val) { - can->state->standard_rx_filter[i].SIDFE_0.bit.SFEC = CAN_SIDFE_0_SFEC_DISABLE_Val; - } - } -} - -STATIC CanMramXidfe *next_extended_filter(canio_listener_obj_t *self, CanMramXidfe *start) { - CanMramXidfe *end = &self->can->state->extended_rx_filter[MP_ARRAY_SIZE(self->can->state->extended_rx_filter)]; - if (start == NULL) { - start = self->can->state->extended_rx_filter; - } else { - start = start + 1; - } - while (extended_filter_in_use(start)) { - if (start == end) { - return NULL; - } - start = start + 1; - } - return start; -} - -STATIC CanMramSidfe *next_standard_filter(canio_listener_obj_t *self, CanMramSidfe *start) { - CanMramSidfe *end = &self->can->state->standard_rx_filter[MP_ARRAY_SIZE(self->can->state->standard_rx_filter)]; - if (start == NULL) { - start = self->can->state->standard_rx_filter; - } else { - start = start + 1; - } - while (standard_filter_in_use(start)) { - if (start == end) { - return NULL; - } - start = start + 1; - } - return start; -} - -STATIC void install_standard_filter(CanMramSidfe *standard, int id1, int id2, int sfec, int sft) { - assert(standard); - CAN_SIDFE_0_Type val = { - .bit.SFID1 = id1, - .bit.SFID2 = id2, - .bit.SFEC = sfec, - .bit.SFT = sft, - }; - standard->SIDFE_0 = val; -} - -STATIC void install_extended_filter(CanMramXidfe *extended, int id1, int id2, int efec, int eft) { - assert(extended); - CAN_XIDFE_0_Type val0 = { - .bit.EFID1 = id1, - .bit.EFEC = efec, - }; - CAN_XIDFE_1_Type val1 = { - .bit.EFID2 = id2, - .bit.EFT = eft, - }; - // Set entry 0 second, because it has the enable bits (XIDFE_0_EFEC) - extended->XIDFE_1 = val1; - extended->XIDFE_0 = val0; -} - - -#define NO_ADDRESS (-1) -void set_filters(canio_listener_obj_t *self, size_t nmatch, canio_match_obj_t **matches) { - int fifo = self->fifo_idx; - - if (!nmatch) { - allow_config_change(self->can); - self->can->hw->GFC.bit.ANFS = CAN_GFC_ANFS_RXF0_Val + fifo; - self->can->hw->GFC.bit.ANFE = CAN_GFC_ANFE_RXF0_Val + fifo; - self->can->hw->CCCR.bit.CCE = 0; - prevent_config_change(self->can); - return; - } - - CanMramSidfe *standard = next_standard_filter(self, NULL); - CanMramXidfe *extended = next_extended_filter(self, NULL); - - int first_address = NO_ADDRESS; - - // step 1: single address standard matches - // we have to gather up pairs and stuff them in a single filter entry - for(size_t i = 0; iextended) { - continue; - } - if (!single_address_filter(match)) { - continue; - } - if (first_address != NO_ADDRESS) { - install_standard_filter(standard, first_address, match->address, CAN_SIDFE_0_SFEC_STF0M_Val + fifo, CAN_SIDFE_0_SFT_DUAL_Val); - first_address = NO_ADDRESS; - standard = next_standard_filter(self, standard); - } else { - first_address = match->address; - } - } - // step 1.5. odd single address standard match - if (first_address != NO_ADDRESS) { - install_standard_filter(standard, first_address, first_address, CAN_SIDFE_0_SFEC_STF0M_Val + fifo, CAN_SIDFE_0_SFT_DUAL_Val); - standard = next_standard_filter(self, standard); - first_address = NO_ADDRESS; - } - - // step 2: standard mask filter - for(size_t i = 0; iextended) { - continue; - } - if (single_address_filter(match)) { - continue; - } - install_standard_filter(standard, match->address, match->mask, CAN_SIDFE_0_SFEC_STF0M_Val + fifo, CAN_SIDFE_0_SFT_CLASSIC_Val); - standard = next_standard_filter(self, standard); - } - - // step 3: single address extended matches - // we have to gather up pairs and stuff them in a single filter entry - for(size_t i = 0; iextended) { - continue; - } - if (!single_address_filter(match)) { - continue; - } - if (first_address != NO_ADDRESS) { - install_extended_filter(extended, first_address, match->address, CAN_XIDFE_0_EFEC_STF0M_Val + fifo, CAN_XIDFE_1_EFT_DUAL_Val); - first_address = NO_ADDRESS; - extended = next_extended_filter(self, extended); - } else { - first_address = match->address; - } - } - // step 3.5. odd single address standard match - if (first_address != NO_ADDRESS) { - install_extended_filter(extended, first_address, first_address, CAN_XIDFE_0_EFEC_STF0M_Val + fifo, CAN_XIDFE_1_EFT_DUAL_Val); - extended = next_extended_filter(self, extended); - first_address = NO_ADDRESS; - } - - // step 4: extended mask filters - for(size_t i = 0; iextended) { - continue; - } - if (single_address_filter(match)) { - continue; - } - install_extended_filter(extended, match->address, match->mask, CAN_XIDFE_0_EFEC_STF0M_Val + fifo, CAN_XIDFE_1_EFT_CLASSIC_Val); - extended = next_extended_filter(self, extended); - } - - // phew, easy(!) -} - - -void common_hal_canio_listener_construct(canio_listener_obj_t *self, canio_can_obj_t *can, size_t nmatch, canio_match_obj_t **matches, float timeout) { - if (!can->fifo0_in_use) { - self->fifo_idx = 0; - self->fifo = can->state->rx0_fifo; - self->hw = (canio_rxfifo_reg_t*)&can->hw->RXF0C; - can->hw->IR.reg = CAN_IR_RF0N | CAN_IR_RF0W | CAN_IR_RF0F | CAN_IR_RF0L; - can->fifo0_in_use = true; - } else if (!can->fifo1_in_use) { - self->fifo_idx = 1; - self->fifo = can->state->rx1_fifo; - self->hw = (canio_rxfifo_reg_t*)&can->hw->RXF1C; - can->fifo1_in_use = true; - can->hw->IR.reg = CAN_IR_RF1N | CAN_IR_RF1W | CAN_IR_RF1F | CAN_IR_RF1L; - } else { - mp_raise_ValueError(translate("All RX FIFOs in use")); - } - - if (!nmatch) { - if (can->hw->GFC.bit.ANFS == CAN_GFC_ANFS_RXF1_Val - self->fifo_idx) { - mp_raise_ValueError(translate("Already have all-matches listener")); - } - if (can->hw->GFC.bit.ANFE == CAN_GFC_ANFE_RXF1_Val - self->fifo_idx) { - mp_raise_ValueError(translate("Already have all-matches listener")); - } - } - - if (num_filters_needed(nmatch, matches, false) > num_filters_available(can, false)) { - mp_raise_ValueError(translate("Filters too complex")); - } - - if (num_filters_needed(nmatch, matches, true) > num_filters_available(can, true)) { - mp_raise_ValueError(translate("Filters too complex")); - } - - // Nothing can fail now so it's safe to assign self->can - self->can = can; - set_filters(self, nmatch, matches); - common_hal_canio_listener_set_timeout(self, timeout); -} - -void common_hal_canio_listener_set_timeout(canio_listener_obj_t *self, float timeout) { - self->timeout_ms = (int)MICROPY_FLOAT_C_FUN(ceil)(timeout * 1000); -} - -float common_hal_canio_listener_get_timeout(canio_listener_obj_t *self) { - return self->timeout_ms / 1000.0f; -} - -void common_hal_canio_listener_check_for_deinit(canio_listener_obj_t *self) { - if (!self->can) { - raise_deinited_error(); - } - common_hal_canio_can_check_for_deinit(self->can); -} - -int common_hal_canio_listener_in_waiting(canio_listener_obj_t *self) { - return self->hw->RXFS.bit.F0FL; -} - -bool common_hal_canio_listener_readinto(canio_listener_obj_t *self, canio_message_obj_t *message) { - if (!common_hal_canio_listener_in_waiting(self)) { - uint64_t deadline = supervisor_ticks_ms64() + self->timeout_ms; - do { - if (supervisor_ticks_ms64() > deadline) { - return false; - } - } while (!common_hal_canio_listener_in_waiting(self)); - } - int index = self->hw->RXFS.bit.F0GI; - canio_can_fifo_t *hw_message = &self->fifo[index]; - message->extended = hw_message->rxb0.bit.XTD; - if (message->extended) { - message->id = hw_message->rxb0.bit.ID; - } else { - message->id = hw_message->rxb0.bit.ID >> 18; // short addresses are left-justified - } - message->rtr = hw_message->rxb0.bit.RTR; - message->size = hw_message->rxb1.bit.DLC; - if (!message->rtr) { - memcpy(message->data, hw_message->data, message->size); - } - self->hw->RXFA.bit.F0AI = index; - return true; -} - -void common_hal_canio_listener_deinit(canio_listener_obj_t *self) { - if (self->can) { - clear_filters(self); - if (self->fifo_idx == 0) { - self->can->fifo0_in_use = false; - } - if (self->fifo_idx == 1) { - self->can->fifo1_in_use = false; - } - } - self->fifo_idx = -1; - self->fifo = NULL; - self->can = NULL; - self->hw = NULL; -} diff --git a/ports/atmel-samd/common-hal/_canio/Listener.h b/ports/atmel-samd/common-hal/_canio/Listener.h deleted file mode 100644 index cc6770e6e..000000000 --- a/ports/atmel-samd/common-hal/_canio/Listener.h +++ /dev/null @@ -1,53 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#pragma once - -#include "common-hal/_canio/CAN.h" -#include "shared-module/_canio/Match.h" - -typedef struct { - __IO CAN_RXF0C_Type RXFC; /**< \brief (R/W 32) Rx FIFO n Configuration */ - __I CAN_RXF0S_Type RXFS; /**< \brief (R/ 32) Rx FIFO n Status */ - __IO CAN_RXF0A_Type RXFA; /**< \brief (R/W 32) Rx FIFO n Acknowledge */ -} canio_rxfifo_reg_t; - -typedef struct { - mp_obj_base_t base; - canio_can_obj_t *can; - canio_can_fifo_t *fifo; - canio_rxfifo_reg_t *hw; - uint32_t timeout_ms; - uint8_t fifo_idx; -} canio_listener_obj_t; - -void common_hal_canio_listener_construct(canio_listener_obj_t *self, canio_can_obj_t *can, size_t nmatch, canio_match_obj_t **matches, float timeout); -void common_hal_canio_listener_check_for_deinit(canio_listener_obj_t *self); -void common_hal_canio_listener_deinit(canio_listener_obj_t *self); -bool common_hal_canio_listener_readinto(canio_listener_obj_t *self, canio_message_obj_t *message); -int common_hal_canio_listener_in_waiting(canio_listener_obj_t *self); -float common_hal_canio_listener_get_timeout(canio_listener_obj_t *self); -void common_hal_canio_listener_set_timeout(canio_listener_obj_t *self, float timeout); diff --git a/ports/atmel-samd/common-hal/_canio/__init__.c b/ports/atmel-samd/common-hal/_canio/__init__.c deleted file mode 100644 index 7932bfc2d..000000000 --- a/ports/atmel-samd/common-hal/_canio/__init__.c +++ /dev/null @@ -1,25 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ diff --git a/ports/atmel-samd/common-hal/_canio/__init__.h b/ports/atmel-samd/common-hal/_canio/__init__.h deleted file mode 100644 index cb491ab9e..000000000 --- a/ports/atmel-samd/common-hal/_canio/__init__.h +++ /dev/null @@ -1,67 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#pragma once - -#include "hal/utils/include/utils.h" -#include "component/can.h" - -#define COMMON_HAL_CANIO_MAX_MESSAGE_LENGTH (8) -#define COMMON_HAL_CANIO_RX_FIFO_SIZE (3) -#define COMMON_HAL_CANIO_RX_FILTER_SIZE (4) -#define COMMON_HAL_CANIO_TX_FIFO_SIZE (1) - -// This appears to be a typo (transposition error) in the ASF4 headers -// It's called the "Extended ID Filter Entry" -typedef CanMramXifde CanMramXidfe; - -typedef struct canio_listener canio_listener_t; -typedef struct canio_can canio_can_t; - -typedef struct { - union { - CAN_RXBE_0_Type rxb0; - CAN_TXBE_0_Type txb0; - CAN_RXF0E_0_Type rxf0; - }; - union { - CAN_RXBE_1_Type rxb1; - CAN_TXBE_1_Type txb1; - CAN_RXF0E_1_Type rxf1; - }; - COMPILER_ALIGNED(4) - uint8_t data[COMMON_HAL_CANIO_MAX_MESSAGE_LENGTH]; -} canio_can_fifo_t; - -typedef uint32_t canio_can_filter_t; - -typedef struct { - canio_can_fifo_t tx_fifo[COMMON_HAL_CANIO_TX_FIFO_SIZE]; - canio_can_fifo_t rx0_fifo[COMMON_HAL_CANIO_RX_FIFO_SIZE]; - canio_can_fifo_t rx1_fifo[COMMON_HAL_CANIO_RX_FIFO_SIZE]; - CanMramSidfe standard_rx_filter[COMMON_HAL_CANIO_RX_FILTER_SIZE]; - CanMramXifde extended_rx_filter[COMMON_HAL_CANIO_RX_FILTER_SIZE]; -} canio_can_state_t; diff --git a/ports/atmel-samd/common-hal/canio/CAN.c b/ports/atmel-samd/common-hal/canio/CAN.c new file mode 100644 index 000000000..01cc03dea --- /dev/null +++ b/ports/atmel-samd/common-hal/canio/CAN.c @@ -0,0 +1,445 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include + +#include "py/runtime.h" +#include "py/mperrno.h" + +#include "peripheral_clk_config.h" + +#include "common-hal/canio/CAN.h" +#include "shared-bindings/microcontroller/Pin.h" +#include "shared-bindings/util.h" +#include "supervisor/port.h" + +#include "component/can.h" + +#include "genhdr/candata.h" + +STATIC Can * const can_insts[] = CAN_INSTS; + +STATIC canio_can_obj_t *can_objs[MP_ARRAY_SIZE(can_insts)]; + +// This must be placed in the first 64kB of RAM +STATIC COMPILER_SECTION(".canram") canio_can_state_t can_state[MP_ARRAY_SIZE(can_insts)]; + +void common_hal_canio_can_construct(canio_can_obj_t *self, mcu_pin_obj_t *tx, mcu_pin_obj_t *rx, int baudrate, bool loopback, bool silent) +{ + mcu_pin_function_t *tx_function = mcu_find_pin_function(can_tx, tx, -1, MP_QSTR_tx); + int instance = tx_function->instance; + + mcu_pin_function_t *rx_function = mcu_find_pin_function(can_rx, rx, instance, MP_QSTR_rx); + + const uint32_t can_frequency = CONF_CAN0_FREQUENCY; + +#define DIV_ROUND(a, b) (((a) + (b)/2) / (b)) +#define DIV_ROUND_UP(a, b) (((a) + (b) - 1) / (b)) + + uint32_t clocks_per_bit = DIV_ROUND(can_frequency, baudrate); + uint32_t clocks_to_sample = DIV_ROUND(clocks_per_bit * 7, 8); + uint32_t clocks_after_sample = clocks_per_bit - clocks_to_sample; + uint32_t divisor = MAX(DIV_ROUND_UP(clocks_to_sample, 256), DIV_ROUND_UP(clocks_after_sample, 128)); + if (divisor > 32) { + mp_raise_OSError(MP_EINVAL); // baudrate cannot be attained (16kHz or something is lower bound, should never happen) + } + + gpio_set_pin_direction(tx_function->pin, GPIO_DIRECTION_OUT); + gpio_set_pin_function(tx_function->pin, tx_function->function); + common_hal_never_reset_pin(tx_function->obj); + + gpio_set_pin_direction(rx_function->pin, GPIO_DIRECTION_IN); + gpio_set_pin_function(rx_function->pin, rx_function->function); + common_hal_never_reset_pin(rx_function->obj); + + self->tx_pin_number = tx ? common_hal_mcu_pin_number(tx) : COMMON_HAL_MCU_NO_PIN; + self->rx_pin_number = rx ? common_hal_mcu_pin_number(rx) : COMMON_HAL_MCU_NO_PIN; + self->hw = can_insts[instance]; + self->state = &can_state[instance]; + + self->loopback = loopback; + self->silent = silent; + + // Allow configuration change + hri_can_set_CCCR_INIT_bit(self->hw); + while (hri_can_get_CCCR_INIT_bit(self->hw) == 0) { + } + hri_can_set_CCCR_CCE_bit(self->hw); + + if (instance == 0) { + hri_mclk_set_AHBMASK_CAN0_bit(MCLK); + hri_gclk_write_PCHCTRL_reg(GCLK, CAN0_GCLK_ID, CONF_GCLK_CAN0_SRC | (1 << GCLK_PCHCTRL_CHEN_Pos)); + + NVIC_DisableIRQ(CAN0_IRQn); + NVIC_ClearPendingIRQ(CAN0_IRQn); + NVIC_EnableIRQ(CAN0_IRQn); + hri_can_write_ILE_reg(self->hw, CAN_ILE_EINT0); +#ifdef CAN1_GCLK_ID + } else if (instance == 1) { + hri_mclk_set_AHBMASK_CAN1_bit(MCLK); + hri_gclk_write_PCHCTRL_reg(GCLK, CAN1_GCLK_ID, CONF_GCLK_CAN1_SRC | (1 << GCLK_PCHCTRL_CHEN_Pos)); + + NVIC_DisableIRQ(CAN1_IRQn); + NVIC_ClearPendingIRQ(CAN1_IRQn); + NVIC_EnableIRQ(CAN1_IRQn); + hri_can_write_ILE_reg(self->hw, CAN_ILE_EINT0); +#endif + } + + self->hw->CCCR.bit.FDOE = 0; // neither FD nor Bit Rate Switch enabled + self->hw->CCCR.bit.BRSE = 0; + + hri_can_write_MRCFG_reg(self->hw, CAN_MRCFG_QOS(CAN_MRCFG_QOS_DISABLE_Val)); // QoS disabled (no sensitive operation) + + // A "nominal bit" is a header bit. With dual rate CAN FD, this is a slower rate + { + CAN_NBTP_Type btp = { + // 0 means "1 tq", but 2 is subtracted from NTSEG1 for the + // fixed 1 "SYNC" tq + .bit.NTSEG1 = DIV_ROUND(clocks_to_sample, divisor) - 2, + .bit.NTSEG2 = DIV_ROUND(clocks_after_sample, divisor) - 1, + .bit.NBRP = divisor - 1, + .bit.NSJW = DIV_ROUND(clocks_after_sample, divisor * 4), + }; + hri_can_write_NBTP_reg(self->hw, btp.reg); + } + + // A "data bit" is a data bit :) with dula rate CAN FD, this is a higher + // rate. However, CAN FD is not implemented in CircuitPython, and this is + // the same rate as the "nominal rate". + { + CAN_DBTP_Type btp = { + .bit.DTSEG1 = DIV_ROUND(clocks_to_sample, divisor) - 1, + .bit.DTSEG2 = DIV_ROUND(clocks_after_sample, divisor) - 1, + .bit.DBRP = divisor - 1, + .bit.DSJW = DIV_ROUND(clocks_after_sample, divisor * 4), + }; + hri_can_write_DBTP_reg(self->hw, btp.reg); + } + + { + CAN_RXF0C_Type rxf = { + .bit.F0SA = (uint32_t)self->state->rx0_fifo, + .bit.F0S = COMMON_HAL_CANIO_RX_FIFO_SIZE, + }; + hri_can_write_RXF0C_reg(self->hw, rxf.reg); + } + + { + CAN_RXF1C_Type rxf = { + .bit.F1SA = (uint32_t)self->state->rx1_fifo, + .bit.F1S = COMMON_HAL_CANIO_RX_FIFO_SIZE, + }; + hri_can_write_RXF1C_reg(self->hw, rxf.reg); + } + + // All RX data has an 8 byte payload (max) + { + CAN_RXESC_Type esc = { + .bit.F0DS = CAN_RXESC_F0DS_DATA8_Val, + .bit.F1DS = CAN_RXESC_F1DS_DATA8_Val, + .bit.RBDS = CAN_RXESC_RBDS_DATA8_Val, + }; + hri_can_write_RXESC_reg(self->hw, esc.reg); + } + + // All TX data has an 8 byte payload (max) + { + CAN_TXESC_Type esc = { + .bit.TBDS = CAN_TXESC_TBDS_DATA8_Val, + }; + hri_can_write_TXESC_reg(self->hw, esc.reg); + } + + { + CAN_TXBC_Type bc = { + .bit.TBSA = (uint32_t)self->state->tx_fifo, + .bit.NDTB = COMMON_HAL_CANIO_TX_FIFO_SIZE, + .bit.TFQM = 0, // Messages are transmitted in the order submitted + }; + hri_can_write_TXBC_reg(self->hw, bc.reg); + } + + { + CAN_TXEFC_Type efc = { + .bit.EFS = 0, + }; + hri_can_write_TXEFC_reg(self->hw, efc.reg); + } + + { + CAN_GFC_Type gfc = { + .bit.RRFE = 1, + .bit.ANFS = CAN_GFC_ANFS_REJECT_Val, + .bit.ANFE = CAN_GFC_ANFE_REJECT_Val, + }; + hri_can_write_GFC_reg(self->hw, gfc.reg); + } + + { + CAN_SIDFC_Type dfc = { + .bit.LSS = COMMON_HAL_CANIO_RX_FILTER_SIZE, + .bit.FLSSA = (uint32_t)self->state->standard_rx_filter + }; + hri_can_write_SIDFC_reg(self->hw, dfc.reg); + } + + { + CAN_XIDFC_Type dfc = { + .bit.LSE = COMMON_HAL_CANIO_RX_FILTER_SIZE, + .bit.FLESA = (uint32_t)self->state->extended_rx_filter + }; + hri_can_write_XIDFC_reg(self->hw, dfc.reg); + } + + { + CAN_IE_Type ie = { + .bit.EWE = 1, + .bit.EPE = 1, + .bit.BOE = 1, + }; + hri_can_write_IE_reg(self->hw, ie.reg); + } + + hri_can_write_XIDAM_reg(self->hw, CAN_XIDAM_RESETVALUE); + +// silent: The CAN is set in Bus Monitoring Mode by programming CCCR.MON to '1'. (tx pin unused) +// external loopback: The CAN can be set in External Loop Back Mode by programming TEST.LBCK and CCCR.MON to '1'. (rx pin unused) +// internal loopback (silent loopback): Internal Loop Back Mode is entered by programming bits TEST.LBCK and CCCR.MON to '1'. (tx, rx unused) + self->hw->CCCR.bit.MON = silent; + self->hw->CCCR.bit.TEST = loopback; + self->hw->TEST.bit.LBCK = loopback; + + if (instance == 0) { + NVIC_DisableIRQ(CAN0_IRQn); + NVIC_ClearPendingIRQ(CAN0_IRQn); + NVIC_EnableIRQ(CAN0_IRQn); +#ifdef CAN1_GCLK_ID + } else if (instance == 1) { + NVIC_DisableIRQ(CAN1_IRQn); + NVIC_ClearPendingIRQ(CAN1_IRQn); + NVIC_EnableIRQ(CAN1_IRQn); +#endif + } + + hri_can_write_ILE_reg(self->hw, CAN_ILE_EINT0); + // Prevent configuration change + hri_can_clear_CCCR_CCE_bit(self->hw); + hri_can_clear_CCCR_INIT_bit(self->hw); + while (hri_can_get_CCCR_INIT_bit(self->hw)) { + } + + can_objs[instance] = self; +} + +bool common_hal_canio_can_loopback_get(canio_can_obj_t *self) +{ + return self->loopback; +} + +int common_hal_canio_can_baudrate_get(canio_can_obj_t *self) +{ + return self->baudrate; +} + +int common_hal_canio_can_transmit_error_count_get(canio_can_obj_t *self) +{ + return self->hw->ECR.bit.TEC; +} + +int common_hal_canio_can_receive_error_count_get(canio_can_obj_t *self) +{ + return self->hw->ECR.bit.REC; +} + +int common_hal_canio_can_error_warning_state_count_get(canio_can_obj_t *self) +{ + return self->error_warning_state_count; +} + +int common_hal_canio_can_error_passive_state_count_get(canio_can_obj_t *self) +{ + return self->error_passive_state_count; +} + +int common_hal_canio_can_bus_off_state_count_get(canio_can_obj_t *self) +{ + return self->bus_off_state_count; +} + +canio_bus_state_t common_hal_canio_can_state_get(canio_can_obj_t *self) { + CAN_PSR_Type psr = self->hw->PSR; + if (psr.bit.BO) { + return BUS_STATE_OFF; + } + if (psr.bit.EP) { + return BUS_STATE_ERROR_PASSIVE; + } + if (psr.bit.EW) { + return BUS_STATE_ERROR_WARNING; + } + return BUS_STATE_ERROR_ACTIVE; +} + +void common_hal_canio_can_restart(canio_can_obj_t *self) { + if (!self->hw->PSR.bit.BO) { + return; + } + + hri_can_clear_CCCR_INIT_bit(self->hw); + while (hri_can_get_CCCR_INIT_bit(self->hw)) { + } +} + +bool common_hal_canio_can_auto_restart_get(canio_can_obj_t *self) { + return self->auto_restart; +} + +void common_hal_canio_can_auto_restart_set(canio_can_obj_t *self, bool value) { + self->auto_restart = value; +} + +static void maybe_auto_restart(canio_can_obj_t *self) { + if (self->auto_restart) { + common_hal_canio_can_restart(self); + } +} + +void common_hal_canio_can_send(canio_can_obj_t *self, canio_message_obj_t *message) +{ + maybe_auto_restart(self); + + // We have just one dedicated TX buffer, use it! + canio_can_fifo_t *ent = &self->state->tx_fifo[0]; + + ent->txb0.bit.ESI = false; + ent->txb0.bit.XTD = message->extended; + ent->txb0.bit.RTR = message->rtr; + if (message->extended) { + ent->txb0.bit.ID = message->id << 18; + } else { + ent->txb0.bit.ID = message->id << 18; // short addresses are left-justified + } + + ent->txb1.bit.MM = 0; // "message marker" + ent->txb1.bit.EFC = 0; // don't store fifo events to event queue + ent->txb1.bit.FDF = 0; // Classic CAN format + ent->txb1.bit.BRS = 0; // No bit rate switching + ent->txb1.bit.DLC = message->size; + + if (!message->rtr) { + memcpy(ent->data, message->data, message->size); + } + + // TX buffer add request + self->hw->TXBAR.reg = 1; + + // wait 8ms (hard coded for now) for TX to occur + uint64_t deadline = port_get_raw_ticks(NULL) + 8; + while (port_get_raw_ticks(NULL) < deadline && !(self->hw->TXBTO.reg & 1)) { + RUN_BACKGROUND_TASKS; + } +} + +bool common_hal_canio_can_silent_get(canio_can_obj_t *self) { + return self->silent; +} + +bool common_hal_canio_can_deinited(canio_can_obj_t *self) { + return !self->hw; +} + +void common_hal_canio_can_check_for_deinit(canio_can_obj_t *self) { + if (common_hal_canio_can_deinited(self)) { + raise_deinited_error(); + } +} + +void common_hal_canio_can_deinit(canio_can_obj_t *self) +{ + if (self->hw) { + hri_can_set_CCCR_INIT_bit(self->hw); + self->hw = 0; + } + if (self->rx_pin_number != COMMON_HAL_MCU_NO_PIN) { + reset_pin_number(self->rx_pin_number); + self->rx_pin_number = COMMON_HAL_MCU_NO_PIN; + } + if (self->tx_pin_number != COMMON_HAL_MCU_NO_PIN) { + reset_pin_number(self->tx_pin_number); + self->tx_pin_number = COMMON_HAL_MCU_NO_PIN; + } +} + +void common_hal_canio_reset(void) { + memset(can_state, 0, sizeof(can_state)); + + for (size_t i=0; ierror_warning_state_count += 1; + } + if (ir & CAN_IE_EPE) { + self->error_passive_state_count += 1; + } + if (ir & CAN_IE_BOE) { + self->bus_off_state_count += 1; + } + + /* Acknowledge interrupt */ + hri_can_write_IR_reg(hw, ir); +} + +__attribute__((used)) +void CAN0_Handler(void) { + can_handler(0); +} + +#ifdef CAN1_GCLK_ID +__attribute__((used)) +void CAN1_Handler(void) { + can_handler(1); +} +#endif diff --git a/ports/atmel-samd/common-hal/canio/CAN.h b/ports/atmel-samd/common-hal/canio/CAN.h new file mode 100644 index 000000000..cdea60e7d --- /dev/null +++ b/ports/atmel-samd/common-hal/canio/CAN.h @@ -0,0 +1,55 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#pragma once + +#include "py/obj.h" +#include "shared-bindings/canio/__init__.h" +#include "shared-bindings/canio/CAN.h" +#include "component/can.h" +#include "common-hal/microcontroller/Pin.h" +#include "common-hal/canio/__init__.h" +#include "shared-module/canio/Message.h" + +#define COMMON_HAL_CAN_RX_FIFO_LEN (2) +#define COMMON_HAL_CAN_TX_FIFO_LEN (2) + +typedef struct canio_can_obj { + mp_obj_base_t base; + Can *hw; + canio_can_state_t *state; + volatile uint32_t error_warning_state_count; + volatile uint32_t error_passive_state_count; + volatile uint32_t bus_off_state_count; + int baudrate; + uint8_t rx_pin_number:8; + uint8_t tx_pin_number:8; + bool loopback:1; + bool silent:1; + bool auto_restart:1; + bool fifo0_in_use:1; + bool fifo1_in_use:1; +} canio_can_obj_t; diff --git a/ports/atmel-samd/common-hal/canio/Listener.c b/ports/atmel-samd/common-hal/canio/Listener.c new file mode 100644 index 000000000..bf8b3288d --- /dev/null +++ b/ports/atmel-samd/common-hal/canio/Listener.c @@ -0,0 +1,391 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include +#include + +#include "py/obj.h" +#include "py/runtime.h" + +#include "common-hal/canio/__init__.h" +#include "common-hal/canio/Listener.h" +#include "shared-bindings/util.h" +#include "supervisor/shared/tick.h" +#include "component/can.h" + +STATIC void allow_config_change(canio_can_obj_t *can) { + can->hw->CCCR.bit.INIT = 1; + while (!can->hw->CCCR.bit.INIT) { + } + can->hw->CCCR.bit.CCE = 1; +} + +STATIC void prevent_config_change(canio_can_obj_t *can) { + can->hw->CCCR.bit.CCE = 0; + can->hw->CCCR.bit.INIT = 0; + while (can->hw->CCCR.bit.INIT) { + } +} + +__attribute__((unused)) +STATIC void static_assertions(void) { + MP_STATIC_ASSERT(CAN_GFC_ANFE_RXF0_Val + 1 == CAN_GFC_ANFE_RXF1_Val); + MP_STATIC_ASSERT(CAN_GFC_ANFS_RXF0_Val + 1 == CAN_GFC_ANFS_RXF1_Val); + MP_STATIC_ASSERT(CAN_SIDFE_0_SFEC_STF0M_Val + 1 == CAN_SIDFE_0_SFEC_STF1M_Val); + MP_STATIC_ASSERT(CAN_XIDFE_0_EFEC_STF0M_Val + 1 == CAN_XIDFE_0_EFEC_STF1M_Val); +} + +STATIC bool single_address_filter(canio_match_obj_t *match) { + return match->mask == 0 || match->mask == match->address; +} + +STATIC bool standard_filter_in_use(CanMramSidfe *filter) { + return filter->SIDFE_0.bit.SFEC != CAN_SIDFE_0_SFEC_DISABLE_Val; +} + +STATIC bool extended_filter_in_use(CanMramXidfe *filter) { + return filter->XIDFE_0.bit.EFEC != CAN_XIDFE_0_EFEC_DISABLE_Val; +} + +STATIC size_t num_filters_needed(size_t nmatch, canio_match_obj_t **matches, bool extended) { + size_t num_half_filters_needed = 1; + for(size_t i=0; iextended) { + continue; + } + if (single_address_filter(matches[i])) { + num_half_filters_needed += 1; + } else { + num_half_filters_needed += 2; + } + } + return num_half_filters_needed / 2; +} + +STATIC size_t num_filters_available(canio_can_obj_t *can, bool extended) { + size_t available = 0; + if (extended) { + for(size_t i = 0; i < MP_ARRAY_SIZE(can->state->extended_rx_filter); i++) { + if (!extended_filter_in_use(&can->state->extended_rx_filter[i])) { + available++; + } + } + } else { + for(size_t i = 0; i < MP_ARRAY_SIZE(can->state->standard_rx_filter); i++) { + if (!standard_filter_in_use(&can->state->standard_rx_filter[i])) { + available++; + } + } + } + return available; +} + +STATIC void clear_filters(canio_listener_obj_t *self) { + canio_can_obj_t *can = self->can; + int fifo = self->fifo_idx; + + // If it was a global accept, clear it + allow_config_change(can); + if (can->hw->GFC.bit.ANFS == CAN_GFC_ANFS_RXF0 + fifo) { + can->hw->GFC.bit.ANFS = CAN_GFC_ANFS_REJECT_Val; + } + if (can->hw->GFC.bit.ANFE == CAN_GFC_ANFE_RXF0 + fifo) { + can->hw->GFC.bit.ANFE = CAN_GFC_ANFE_REJECT_Val; + } + prevent_config_change(can); + + // For each filter entry, if it pointed at this FIFO set it to DISABLE + for(size_t i = 0; i < MP_ARRAY_SIZE(can->state->extended_rx_filter); i++) { + int val = CAN_XIDFE_0_EFEC_STF0M_Val + fifo; + if (can->state->extended_rx_filter[i].XIDFE_0.bit.EFEC == val) { + can->state->extended_rx_filter[i].XIDFE_0.bit.EFEC = CAN_XIDFE_0_EFEC_DISABLE_Val; + } + } + for(size_t i = 0; i < MP_ARRAY_SIZE(can->state->standard_rx_filter); i++) { + int val = CAN_SIDFE_0_SFEC_STF1M_Val + fifo; + if (can->state->standard_rx_filter[i].SIDFE_0.bit.SFEC == val) { + can->state->standard_rx_filter[i].SIDFE_0.bit.SFEC = CAN_SIDFE_0_SFEC_DISABLE_Val; + } + } +} + +STATIC CanMramXidfe *next_extended_filter(canio_listener_obj_t *self, CanMramXidfe *start) { + CanMramXidfe *end = &self->can->state->extended_rx_filter[MP_ARRAY_SIZE(self->can->state->extended_rx_filter)]; + if (start == NULL) { + start = self->can->state->extended_rx_filter; + } else { + start = start + 1; + } + while (extended_filter_in_use(start)) { + if (start == end) { + return NULL; + } + start = start + 1; + } + return start; +} + +STATIC CanMramSidfe *next_standard_filter(canio_listener_obj_t *self, CanMramSidfe *start) { + CanMramSidfe *end = &self->can->state->standard_rx_filter[MP_ARRAY_SIZE(self->can->state->standard_rx_filter)]; + if (start == NULL) { + start = self->can->state->standard_rx_filter; + } else { + start = start + 1; + } + while (standard_filter_in_use(start)) { + if (start == end) { + return NULL; + } + start = start + 1; + } + return start; +} + +STATIC void install_standard_filter(CanMramSidfe *standard, int id1, int id2, int sfec, int sft) { + assert(standard); + CAN_SIDFE_0_Type val = { + .bit.SFID1 = id1, + .bit.SFID2 = id2, + .bit.SFEC = sfec, + .bit.SFT = sft, + }; + standard->SIDFE_0 = val; +} + +STATIC void install_extended_filter(CanMramXidfe *extended, int id1, int id2, int efec, int eft) { + assert(extended); + CAN_XIDFE_0_Type val0 = { + .bit.EFID1 = id1, + .bit.EFEC = efec, + }; + CAN_XIDFE_1_Type val1 = { + .bit.EFID2 = id2, + .bit.EFT = eft, + }; + // Set entry 0 second, because it has the enable bits (XIDFE_0_EFEC) + extended->XIDFE_1 = val1; + extended->XIDFE_0 = val0; +} + + +#define NO_ADDRESS (-1) +void set_filters(canio_listener_obj_t *self, size_t nmatch, canio_match_obj_t **matches) { + int fifo = self->fifo_idx; + + if (!nmatch) { + allow_config_change(self->can); + self->can->hw->GFC.bit.ANFS = CAN_GFC_ANFS_RXF0_Val + fifo; + self->can->hw->GFC.bit.ANFE = CAN_GFC_ANFE_RXF0_Val + fifo; + self->can->hw->CCCR.bit.CCE = 0; + prevent_config_change(self->can); + return; + } + + CanMramSidfe *standard = next_standard_filter(self, NULL); + CanMramXidfe *extended = next_extended_filter(self, NULL); + + int first_address = NO_ADDRESS; + + // step 1: single address standard matches + // we have to gather up pairs and stuff them in a single filter entry + for(size_t i = 0; iextended) { + continue; + } + if (!single_address_filter(match)) { + continue; + } + if (first_address != NO_ADDRESS) { + install_standard_filter(standard, first_address, match->address, CAN_SIDFE_0_SFEC_STF0M_Val + fifo, CAN_SIDFE_0_SFT_DUAL_Val); + first_address = NO_ADDRESS; + standard = next_standard_filter(self, standard); + } else { + first_address = match->address; + } + } + // step 1.5. odd single address standard match + if (first_address != NO_ADDRESS) { + install_standard_filter(standard, first_address, first_address, CAN_SIDFE_0_SFEC_STF0M_Val + fifo, CAN_SIDFE_0_SFT_DUAL_Val); + standard = next_standard_filter(self, standard); + first_address = NO_ADDRESS; + } + + // step 2: standard mask filter + for(size_t i = 0; iextended) { + continue; + } + if (single_address_filter(match)) { + continue; + } + install_standard_filter(standard, match->address, match->mask, CAN_SIDFE_0_SFEC_STF0M_Val + fifo, CAN_SIDFE_0_SFT_CLASSIC_Val); + standard = next_standard_filter(self, standard); + } + + // step 3: single address extended matches + // we have to gather up pairs and stuff them in a single filter entry + for(size_t i = 0; iextended) { + continue; + } + if (!single_address_filter(match)) { + continue; + } + if (first_address != NO_ADDRESS) { + install_extended_filter(extended, first_address, match->address, CAN_XIDFE_0_EFEC_STF0M_Val + fifo, CAN_XIDFE_1_EFT_DUAL_Val); + first_address = NO_ADDRESS; + extended = next_extended_filter(self, extended); + } else { + first_address = match->address; + } + } + // step 3.5. odd single address standard match + if (first_address != NO_ADDRESS) { + install_extended_filter(extended, first_address, first_address, CAN_XIDFE_0_EFEC_STF0M_Val + fifo, CAN_XIDFE_1_EFT_DUAL_Val); + extended = next_extended_filter(self, extended); + first_address = NO_ADDRESS; + } + + // step 4: extended mask filters + for(size_t i = 0; iextended) { + continue; + } + if (single_address_filter(match)) { + continue; + } + install_extended_filter(extended, match->address, match->mask, CAN_XIDFE_0_EFEC_STF0M_Val + fifo, CAN_XIDFE_1_EFT_CLASSIC_Val); + extended = next_extended_filter(self, extended); + } + + // phew, easy(!) +} + + +void common_hal_canio_listener_construct(canio_listener_obj_t *self, canio_can_obj_t *can, size_t nmatch, canio_match_obj_t **matches, float timeout) { + if (!can->fifo0_in_use) { + self->fifo_idx = 0; + self->fifo = can->state->rx0_fifo; + self->hw = (canio_rxfifo_reg_t*)&can->hw->RXF0C; + can->hw->IR.reg = CAN_IR_RF0N | CAN_IR_RF0W | CAN_IR_RF0F | CAN_IR_RF0L; + can->fifo0_in_use = true; + } else if (!can->fifo1_in_use) { + self->fifo_idx = 1; + self->fifo = can->state->rx1_fifo; + self->hw = (canio_rxfifo_reg_t*)&can->hw->RXF1C; + can->fifo1_in_use = true; + can->hw->IR.reg = CAN_IR_RF1N | CAN_IR_RF1W | CAN_IR_RF1F | CAN_IR_RF1L; + } else { + mp_raise_ValueError(translate("All RX FIFOs in use")); + } + + if (!nmatch) { + if (can->hw->GFC.bit.ANFS == CAN_GFC_ANFS_RXF1_Val - self->fifo_idx) { + mp_raise_ValueError(translate("Already have all-matches listener")); + } + if (can->hw->GFC.bit.ANFE == CAN_GFC_ANFE_RXF1_Val - self->fifo_idx) { + mp_raise_ValueError(translate("Already have all-matches listener")); + } + } + + if (num_filters_needed(nmatch, matches, false) > num_filters_available(can, false)) { + mp_raise_ValueError(translate("Filters too complex")); + } + + if (num_filters_needed(nmatch, matches, true) > num_filters_available(can, true)) { + mp_raise_ValueError(translate("Filters too complex")); + } + + // Nothing can fail now so it's safe to assign self->can + self->can = can; + set_filters(self, nmatch, matches); + common_hal_canio_listener_set_timeout(self, timeout); +} + +void common_hal_canio_listener_set_timeout(canio_listener_obj_t *self, float timeout) { + self->timeout_ms = (int)MICROPY_FLOAT_C_FUN(ceil)(timeout * 1000); +} + +float common_hal_canio_listener_get_timeout(canio_listener_obj_t *self) { + return self->timeout_ms / 1000.0f; +} + +void common_hal_canio_listener_check_for_deinit(canio_listener_obj_t *self) { + if (!self->can) { + raise_deinited_error(); + } + common_hal_canio_can_check_for_deinit(self->can); +} + +int common_hal_canio_listener_in_waiting(canio_listener_obj_t *self) { + return self->hw->RXFS.bit.F0FL; +} + +bool common_hal_canio_listener_readinto(canio_listener_obj_t *self, canio_message_obj_t *message) { + if (!common_hal_canio_listener_in_waiting(self)) { + uint64_t deadline = supervisor_ticks_ms64() + self->timeout_ms; + do { + if (supervisor_ticks_ms64() > deadline) { + return false; + } + } while (!common_hal_canio_listener_in_waiting(self)); + } + int index = self->hw->RXFS.bit.F0GI; + canio_can_fifo_t *hw_message = &self->fifo[index]; + message->extended = hw_message->rxb0.bit.XTD; + if (message->extended) { + message->id = hw_message->rxb0.bit.ID; + } else { + message->id = hw_message->rxb0.bit.ID >> 18; // short addresses are left-justified + } + message->rtr = hw_message->rxb0.bit.RTR; + message->size = hw_message->rxb1.bit.DLC; + if (!message->rtr) { + memcpy(message->data, hw_message->data, message->size); + } + self->hw->RXFA.bit.F0AI = index; + return true; +} + +void common_hal_canio_listener_deinit(canio_listener_obj_t *self) { + if (self->can) { + clear_filters(self); + if (self->fifo_idx == 0) { + self->can->fifo0_in_use = false; + } + if (self->fifo_idx == 1) { + self->can->fifo1_in_use = false; + } + } + self->fifo_idx = -1; + self->fifo = NULL; + self->can = NULL; + self->hw = NULL; +} diff --git a/ports/atmel-samd/common-hal/canio/Listener.h b/ports/atmel-samd/common-hal/canio/Listener.h new file mode 100644 index 000000000..a51a9fc37 --- /dev/null +++ b/ports/atmel-samd/common-hal/canio/Listener.h @@ -0,0 +1,53 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#pragma once + +#include "common-hal/canio/CAN.h" +#include "shared-module/canio/Match.h" + +typedef struct { + __IO CAN_RXF0C_Type RXFC; /**< \brief (R/W 32) Rx FIFO n Configuration */ + __I CAN_RXF0S_Type RXFS; /**< \brief (R/ 32) Rx FIFO n Status */ + __IO CAN_RXF0A_Type RXFA; /**< \brief (R/W 32) Rx FIFO n Acknowledge */ +} canio_rxfifo_reg_t; + +typedef struct { + mp_obj_base_t base; + canio_can_obj_t *can; + canio_can_fifo_t *fifo; + canio_rxfifo_reg_t *hw; + uint32_t timeout_ms; + uint8_t fifo_idx; +} canio_listener_obj_t; + +void common_hal_canio_listener_construct(canio_listener_obj_t *self, canio_can_obj_t *can, size_t nmatch, canio_match_obj_t **matches, float timeout); +void common_hal_canio_listener_check_for_deinit(canio_listener_obj_t *self); +void common_hal_canio_listener_deinit(canio_listener_obj_t *self); +bool common_hal_canio_listener_readinto(canio_listener_obj_t *self, canio_message_obj_t *message); +int common_hal_canio_listener_in_waiting(canio_listener_obj_t *self); +float common_hal_canio_listener_get_timeout(canio_listener_obj_t *self); +void common_hal_canio_listener_set_timeout(canio_listener_obj_t *self, float timeout); diff --git a/ports/atmel-samd/common-hal/canio/__init__.c b/ports/atmel-samd/common-hal/canio/__init__.c new file mode 100644 index 000000000..7932bfc2d --- /dev/null +++ b/ports/atmel-samd/common-hal/canio/__init__.c @@ -0,0 +1,25 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ diff --git a/ports/atmel-samd/common-hal/canio/__init__.h b/ports/atmel-samd/common-hal/canio/__init__.h new file mode 100644 index 000000000..cb491ab9e --- /dev/null +++ b/ports/atmel-samd/common-hal/canio/__init__.h @@ -0,0 +1,67 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#pragma once + +#include "hal/utils/include/utils.h" +#include "component/can.h" + +#define COMMON_HAL_CANIO_MAX_MESSAGE_LENGTH (8) +#define COMMON_HAL_CANIO_RX_FIFO_SIZE (3) +#define COMMON_HAL_CANIO_RX_FILTER_SIZE (4) +#define COMMON_HAL_CANIO_TX_FIFO_SIZE (1) + +// This appears to be a typo (transposition error) in the ASF4 headers +// It's called the "Extended ID Filter Entry" +typedef CanMramXifde CanMramXidfe; + +typedef struct canio_listener canio_listener_t; +typedef struct canio_can canio_can_t; + +typedef struct { + union { + CAN_RXBE_0_Type rxb0; + CAN_TXBE_0_Type txb0; + CAN_RXF0E_0_Type rxf0; + }; + union { + CAN_RXBE_1_Type rxb1; + CAN_TXBE_1_Type txb1; + CAN_RXF0E_1_Type rxf1; + }; + COMPILER_ALIGNED(4) + uint8_t data[COMMON_HAL_CANIO_MAX_MESSAGE_LENGTH]; +} canio_can_fifo_t; + +typedef uint32_t canio_can_filter_t; + +typedef struct { + canio_can_fifo_t tx_fifo[COMMON_HAL_CANIO_TX_FIFO_SIZE]; + canio_can_fifo_t rx0_fifo[COMMON_HAL_CANIO_RX_FIFO_SIZE]; + canio_can_fifo_t rx1_fifo[COMMON_HAL_CANIO_RX_FIFO_SIZE]; + CanMramSidfe standard_rx_filter[COMMON_HAL_CANIO_RX_FILTER_SIZE]; + CanMramXifde extended_rx_filter[COMMON_HAL_CANIO_RX_FILTER_SIZE]; +} canio_can_state_t; diff --git a/py/circuitpy_defns.mk b/py/circuitpy_defns.mk index 2614dc011..98fa7a5f2 100644 --- a/py/circuitpy_defns.mk +++ b/py/circuitpy_defns.mk @@ -143,7 +143,7 @@ ifeq ($(CIRCUITPY_CAMERA),1) SRC_PATTERNS += camera/% endif ifeq ($(CIRCUITPY_CANIO),1) -SRC_PATTERNS += _canio/% +SRC_PATTERNS += canio/% endif ifeq ($(CIRCUITPY_COUNTIO),1) SRC_PATTERNS += countio/% @@ -318,9 +318,9 @@ SRC_COMMON_HAL_ALL = \ busio/__init__.c \ camera/__init__.c \ camera/Camera.c \ - _canio/CAN.c \ - _canio/Listener.c \ - _canio/__init__.c \ + canio/CAN.c \ + canio/Listener.c \ + canio/__init__.c \ countio/Counter.c \ countio/__init__.c \ digitalio/DigitalInOut.c \ @@ -390,7 +390,7 @@ $(filter $(SRC_PATTERNS), \ _bleio/Address.c \ _bleio/Attribute.c \ _bleio/ScanEntry.c \ - _canio/Match.c \ + canio/Match.c \ _eve/__init__.c \ camera/ImageFormat.c \ digitalio/Direction.c \ @@ -409,8 +409,8 @@ SRC_SHARED_MODULE_ALL = \ _bleio/Attribute.c \ _bleio/ScanEntry.c \ _bleio/ScanResults.c \ - _canio/Match.c \ - _canio/Message.c \ + canio/Match.c \ + canio/Message.c \ _eve/__init__.c \ _pixelbuf/PixelBuf.c \ _pixelbuf/__init__.c \ diff --git a/py/circuitpy_mpconfig.h b/py/circuitpy_mpconfig.h index d1b12f354..0583ae1c9 100644 --- a/py/circuitpy_mpconfig.h +++ b/py/circuitpy_mpconfig.h @@ -338,7 +338,7 @@ extern const struct _mp_obj_module_t camera_module; #if CIRCUITPY_CANIO extern const struct _mp_obj_module_t canio_module; -#define CANIO_MODULE { MP_OBJ_NEW_QSTR(MP_QSTR__canio), (mp_obj_t)&canio_module }, +#define CANIO_MODULE { MP_OBJ_NEW_QSTR(MP_QSTR_canio), (mp_obj_t)&canio_module }, #else #define CANIO_MODULE #endif diff --git a/shared-bindings/_canio/CAN.c b/shared-bindings/_canio/CAN.c deleted file mode 100644 index 38aed85d3..000000000 --- a/shared-bindings/_canio/CAN.c +++ /dev/null @@ -1,422 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#include "py/enum.h" -#include "common-hal/_canio/CAN.h" -#include "common-hal/_canio/Listener.h" -#include "shared-bindings/_canio/__init__.h" -#include "shared-bindings/_canio/CAN.h" -#include "shared-bindings/_canio/Listener.h" -#include "shared-bindings/_canio/Match.h" -#include "shared-bindings/_canio/Message.h" -#include "shared-bindings/microcontroller/Pin.h" - -#include "py/objproperty.h" -#include "py/runtime.h" - -//| -//| class CAN: -//| """CAN bus protocol""" -//| -//| def __init__(self, -//| tx: microcontroller.Pin, -//| rx: microcontroller.Pin, -//| *, -//| baudrate: int = 250000, -//| loopback: bool = False, -//| silent: bool = False, -//| auto_restart: bool = False, -//| ): -//| """A common shared-bus protocol. The rx and tx pins are generally -//| connected to a transceiver which controls the H and L pins on a -//| shared bus. -//| -//| :param ~microcontroller.Pin rx: the pin to receive with -//| :param ~microcontroller.Pin tx: the pin to transmit with -//| :param int baudrate: The bit rate of the bus in Hz. All devices on the bus must agree on this value. -//| :param bool loopback: When True the ``rx`` pin's value is ignored, and the device receives the packets it sends. -//| :param bool silent: When True the ``tx`` pin is always driven to the high logic level. This mode can be used to "sniff" a CAN bus without interfering. -//| :param bool auto_restart: If True, will restart communications after entering bus-off state -//| """ -//| ... -//| -STATIC mp_obj_t canio_can_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { - enum { ARG_rx, ARG_tx, ARG_baudrate, ARG_loopback, ARG_silent, ARG_auto_restart, NUM_ARGS }; - static const mp_arg_t allowed_args[] = { - { MP_QSTR_tx, MP_ARG_OBJ | MP_ARG_REQUIRED }, - { MP_QSTR_rx, MP_ARG_OBJ | MP_ARG_REQUIRED }, - { MP_QSTR_baudrate, MP_ARG_INT, {.u_int = 250000} }, - { MP_QSTR_loopback, MP_ARG_BOOL, {.u_bool = false} }, - { MP_QSTR_silent, MP_ARG_BOOL, {.u_bool = false} }, - { MP_QSTR_auto_restart, MP_ARG_BOOL, {.u_bool = false} }, - }; - mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; - MP_STATIC_ASSERT( MP_ARRAY_SIZE(allowed_args) == NUM_ARGS ); - - mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); - - mcu_pin_obj_t *rx_pin = validate_obj_is_free_pin_or_none(args[ARG_rx].u_obj); - mcu_pin_obj_t *tx_pin = validate_obj_is_free_pin_or_none(args[ARG_tx].u_obj); - if (!rx_pin && !tx_pin) { - mp_raise_ValueError(translate("tx and rx cannot both be None")); - } - - canio_can_obj_t *self = m_new_obj(canio_can_obj_t); - self->base.type = &canio_can_type; - common_hal_canio_can_construct(self, tx_pin, rx_pin, args[ARG_baudrate].u_int, args[ARG_loopback].u_bool, args[ARG_silent].u_bool); - - common_hal_canio_can_auto_restart_set(self, args[ARG_auto_restart].u_bool); - - return MP_OBJ_FROM_PTR(self); -} - - -//| auto_restart: bool -//| """If True, will restart communications after entering bus-off state""" -//| -STATIC mp_obj_t canio_can_auto_restart_get(mp_obj_t self_in) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_can_check_for_deinit(self); - return mp_obj_new_bool(common_hal_canio_can_auto_restart_get(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_can_auto_restart_get_obj, canio_can_auto_restart_get); - -STATIC mp_obj_t canio_can_auto_restart_set(mp_obj_t self_in, mp_obj_t flag_in) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_can_check_for_deinit(self); - common_hal_canio_can_auto_restart_set(self, mp_obj_is_true(flag_in)); - return mp_const_none; -} -MP_DEFINE_CONST_FUN_OBJ_2(canio_can_auto_restart_set_obj, canio_can_auto_restart_set); - -STATIC const mp_obj_property_t canio_can_auto_restart_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_can_auto_restart_get_obj, - (mp_obj_t)&canio_can_auto_restart_set_obj, - (mp_obj_t)mp_const_none}, -}; - - -//| baudrate: int -//| """The baud rate (read-only)""" -//| -STATIC mp_obj_t canio_can_baudrate_get(mp_obj_t self_in) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_can_check_for_deinit(self); - return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_baudrate_get(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_can_baudrate_get_obj, canio_can_baudrate_get); - -STATIC const mp_obj_property_t canio_can_baudrate_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_can_baudrate_get_obj, - (mp_obj_t)mp_const_none, - (mp_obj_t)mp_const_none}, -}; - -//| transmit_error_count: int -//| """The number of transmit errors (read-only). Increased for a detected transmission error, decreased for successful transmission. Limited to the range from 0 to 255 inclusive. Also called TEC.""" -//| -STATIC mp_obj_t canio_can_transmit_error_count_get(mp_obj_t self_in) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_can_check_for_deinit(self); - return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_transmit_error_count_get(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_can_transmit_error_count_get_obj, canio_can_transmit_error_count_get); - -STATIC const mp_obj_property_t canio_can_transmit_error_count_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_can_transmit_error_count_get_obj, - (mp_obj_t)mp_const_none, - (mp_obj_t)mp_const_none}, -}; - -//| receive_error_count: int -//| """The number of receive errors (read-only). Increased for a detected reception error, decreased for successful reception. Limited to the range from 0 to 255 inclusive. Also called REC.""" -//| -STATIC mp_obj_t canio_can_receive_error_count_get(mp_obj_t self_in) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_can_check_for_deinit(self); - return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_receive_error_count_get(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_can_receive_error_count_get_obj, canio_can_receive_error_count_get); - -STATIC const mp_obj_property_t canio_can_receive_error_count_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_can_receive_error_count_get_obj, - (mp_obj_t)mp_const_none, - (mp_obj_t)mp_const_none}, -}; - -//| error_warning_state_count: int -//| """The number of times the controller enterted the Error Warning state (read-only). This number wraps around to 0 after an implementation-defined number of errors.""" -//| -STATIC mp_obj_t canio_can_error_warning_state_count_get(mp_obj_t self_in) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_can_check_for_deinit(self); - return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_error_warning_state_count_get(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_can_error_warning_state_count_get_obj, canio_can_error_warning_state_count_get); - -STATIC const mp_obj_property_t canio_can_error_warning_state_count_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_can_error_warning_state_count_get_obj, - (mp_obj_t)mp_const_none, - (mp_obj_t)mp_const_none}, -}; - -//| error_passive_state_count: int -//| """The number of times the controller enterted the Error Passive state (read-only). This number wraps around to 0 after an implementation-defined number of errors.""" -//| -STATIC mp_obj_t canio_can_error_passive_state_count_get(mp_obj_t self_in) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_can_check_for_deinit(self); - return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_error_passive_state_count_get(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_can_error_passive_state_count_get_obj, canio_can_error_passive_state_count_get); - -STATIC const mp_obj_property_t canio_can_error_passive_state_count_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_can_error_passive_state_count_get_obj, - (mp_obj_t)mp_const_none, - (mp_obj_t)mp_const_none}, -}; - -//| bus_off_state_count: int -//| """The number of times the controller enterted the Bus Off state (read-only). This number wraps around to 0 after an implementation-defined number of errors.""" -//| -STATIC mp_obj_t canio_can_bus_off_state_count_get(mp_obj_t self_in) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_can_check_for_deinit(self); - return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_bus_off_state_count_get(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_can_bus_off_state_count_get_obj, canio_can_bus_off_state_count_get); - -STATIC const mp_obj_property_t canio_can_bus_off_state_count_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_can_bus_off_state_count_get_obj, - (mp_obj_t)mp_const_none, - (mp_obj_t)mp_const_none}, -}; - -//| state: State -//| """The current state of the bus.""" -STATIC mp_obj_t canio_can_state_get(mp_obj_t self_in) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_can_check_for_deinit(self); - return cp_enum_find(&canio_bus_state_type, common_hal_canio_can_state_get(self)); -} - -MP_DEFINE_CONST_FUN_OBJ_1(canio_can_state_get_obj, canio_can_state_get); - -STATIC const mp_obj_property_t canio_can_state_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_can_state_get_obj, - (mp_obj_t)mp_const_none, - (mp_obj_t)mp_const_none}, -}; - - -//| def restart(self) -> None: -//| """If the device is in the bus off state, restart it.""" -//| ... -//| -STATIC mp_obj_t canio_can_restart(mp_obj_t self_in) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_can_check_for_deinit(self); - common_hal_canio_can_restart(self); - return mp_const_none; -} -STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_can_restart_obj, canio_can_restart); - -//| def listen(self, match: Optional[Sequence[Match]]=None, *, timeout: float=10) -> Listener: -//| """Start receiving messages that match any one of the filters. -//| -//| Creating a listener is an expensive operation and can interfere with reception of messages by other listeners. -//| -//| There is an implementation-defined maximum number of listeners and limit to the complexity of the filters. -//| -//| If the hardware cannot support all the requested matches, a ValueError is raised. Note that generally there are some number of hardware filters shared among all fifos. -//| -//| A message can be received by at most one Listener. If more than one listener matches a message, it is undefined which one actually receives it. -//| -//| An empty filter list causes all messages to be accepted. -//| -//| Timeout dictates how long readinto, read and next() will block.""" -//| ... -//| -STATIC mp_obj_t canio_can_listen(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]); - common_hal_canio_can_check_for_deinit(self); - - enum { ARG_match, ARG_timeout, NUM_ARGS }; - static const mp_arg_t allowed_args[] = { - { MP_QSTR_match, MP_ARG_OBJ, {.u_obj = 0} }, - { MP_QSTR_timeout, MP_ARG_OBJ, {.u_obj = 0} }, - }; - mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; - MP_STATIC_ASSERT( MP_ARRAY_SIZE(allowed_args) == NUM_ARGS ); - - mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); - - size_t nmatch = 0; - mp_obj_t *match_objects = NULL; - - if (args[ARG_match].u_obj) { - mp_obj_get_array(args[ARG_match].u_obj, &nmatch, &match_objects); - } - - canio_match_obj_t *matches[nmatch]; - for (size_t i=0; iname); - } - matches[i] = MP_OBJ_TO_PTR(match_objects[i]); - } - - float timeout = args[ARG_timeout].u_obj ? mp_obj_get_float(args[ARG_timeout].u_obj) : 10.0f; - canio_listener_obj_t *listener = m_new_obj(canio_listener_obj_t); - listener->base.type = &canio_listener_type; - common_hal_canio_listener_construct(listener, self, nmatch, matches, timeout); - return listener; -} -MP_DEFINE_CONST_FUN_OBJ_KW(canio_can_listen_obj, 1, canio_can_listen); - -//| loopback: bool -//| """True if the device was created in loopback mode, False otherwise""" -//| -STATIC mp_obj_t canio_can_loopback_get(mp_obj_t self_in) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_can_check_for_deinit(self); - return mp_obj_new_bool(common_hal_canio_can_loopback_get(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_can_loopback_get_obj, canio_can_loopback_get); - -STATIC const mp_obj_property_t canio_can_loopback_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_can_loopback_get_obj, - (mp_obj_t)mp_const_none, - (mp_obj_t)mp_const_none}, -}; - - -//| def send(message: Message) -> None: -//| """Send a message on the bus with the given data and id. -//| If the message could not be sent due to a full fifo or a bus error condition, RuntimeError is raised. -//| """ -//| ... -//| -STATIC mp_obj_t canio_can_send(mp_obj_t self_in, mp_obj_t message_in) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_can_check_for_deinit(self); - mp_obj_type_t *message_type = mp_obj_get_type(message_in); - if (message_type != &canio_message_type) { - mp_raise_TypeError_varg(translate("expected '%q' but got '%q'"), MP_QSTR_Message, message_type->name); - } - - canio_message_obj_t *message = message_in; - common_hal_canio_can_send(self, message); - return mp_const_none; -} -MP_DEFINE_CONST_FUN_OBJ_2(canio_can_send_obj, canio_can_send); - -//| silent: bool -//| """True if the device was created in silent mode, False otherwise""" -//| -STATIC mp_obj_t canio_can_silent_get(mp_obj_t self_in) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_can_check_for_deinit(self); - return mp_obj_new_bool(common_hal_canio_can_silent_get(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_can_silent_get_obj, canio_can_silent_get); - -STATIC const mp_obj_property_t canio_can_silent_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_can_silent_get_obj, - (mp_obj_t)mp_const_none, - (mp_obj_t)mp_const_none}, -}; - - -//| def deinit(self) -> None: -//| """Deinitialize this object, freeing its hardware resources""" -//| ... -//| -STATIC mp_obj_t canio_can_deinit(mp_obj_t self_in) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_can_deinit(self); - return mp_const_none; -} -STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_can_deinit_obj, canio_can_deinit); - -//| def __enter__(self) -> CAN: -//| """Returns self, to allow the object to be used in a `with` statement for resource control""" -//| ... -//| -STATIC mp_obj_t canio_can_enter(mp_obj_t self_in) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_can_check_for_deinit(self); - return mp_const_none; -} -STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_can_enter_obj, canio_can_enter); - -//| def __exit__(self, unused1, unused2, unused3) -> None: -//| """Calls deinit()""" -//| ... -STATIC mp_obj_t canio_can_exit(size_t num_args, const mp_obj_t args[]) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(args[0]); - common_hal_canio_can_deinit(self); - return mp_const_none; -} -STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(canio_can_exit_obj, 4, 4, canio_can_exit); - -STATIC const mp_rom_map_elem_t canio_can_locals_dict_table[] = { - { MP_ROM_QSTR(MP_QSTR___enter__), MP_ROM_PTR(&canio_can_enter_obj) }, - { MP_ROM_QSTR(MP_QSTR___exit__), MP_ROM_PTR(&canio_can_exit_obj) }, - { MP_ROM_QSTR(MP_QSTR_auto_restart), MP_ROM_PTR(&canio_can_auto_restart_obj) }, - { MP_ROM_QSTR(MP_QSTR_baudrate), MP_ROM_PTR(&canio_can_baudrate_obj) }, - { MP_ROM_QSTR(MP_QSTR_bus_off_state_count), MP_ROM_PTR(&canio_can_bus_off_state_count_obj) }, - { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&canio_can_deinit_obj) }, - { MP_ROM_QSTR(MP_QSTR_error_passive_state_count), MP_ROM_PTR(&canio_can_error_passive_state_count_obj) }, - { MP_ROM_QSTR(MP_QSTR_error_warning_state_count), MP_ROM_PTR(&canio_can_error_warning_state_count_obj) }, - { MP_ROM_QSTR(MP_QSTR_listen), MP_ROM_PTR(&canio_can_listen_obj) }, - { MP_ROM_QSTR(MP_QSTR_loopback), MP_ROM_PTR(&canio_can_loopback_obj) }, - { MP_ROM_QSTR(MP_QSTR_receive_error_count), MP_ROM_PTR(&canio_can_receive_error_count_obj) }, - { MP_ROM_QSTR(MP_QSTR_restart), MP_ROM_PTR(&canio_can_restart_obj) }, - { MP_ROM_QSTR(MP_QSTR_send), MP_ROM_PTR(&canio_can_send_obj) }, - { MP_ROM_QSTR(MP_QSTR_silent), MP_ROM_PTR(&canio_can_silent_obj) }, - { MP_ROM_QSTR(MP_QSTR_state), MP_ROM_PTR(&canio_can_state_obj) }, - { MP_ROM_QSTR(MP_QSTR_transmit_error_count), MP_ROM_PTR(&canio_can_transmit_error_count_obj) }, -}; -STATIC MP_DEFINE_CONST_DICT(canio_can_locals_dict, canio_can_locals_dict_table); - -const mp_obj_type_t canio_can_type = { - { &mp_type_type }, - .name = MP_QSTR_CAN, - .make_new = canio_can_make_new, - .locals_dict = (mp_obj_t)&canio_can_locals_dict, -}; diff --git a/shared-bindings/_canio/CAN.h b/shared-bindings/_canio/CAN.h deleted file mode 100644 index c591c8e6b..000000000 --- a/shared-bindings/_canio/CAN.h +++ /dev/null @@ -1,54 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#pragma once - -#include "py/obj.h" -#include "shared-bindings/microcontroller/Pin.h" -#include "shared-bindings/_canio/Message.h" - -extern const mp_obj_type_t canio_can_type; - -typedef struct canio_can_obj canio_can_obj_t; - -void common_hal_canio_can_construct(canio_can_obj_t *self, mcu_pin_obj_t *tx, mcu_pin_obj_t *rx, int baudrate, bool loopback, bool silent); -bool common_hal_canio_can_auto_restart_get(canio_can_obj_t *self); -bool common_hal_canio_can_deinited(canio_can_obj_t *self); -int common_hal_canio_can_baudrate_get(canio_can_obj_t *self); -int common_hal_canio_can_bus_off_state_count_get(canio_can_obj_t *self); -int common_hal_canio_can_error_passive_state_count_get(canio_can_obj_t *self); -int common_hal_canio_can_error_warning_state_count_get(canio_can_obj_t *self); -bool common_hal_canio_can_loopback_get(canio_can_obj_t *self); -int common_hal_canio_can_receive_error_count_get(canio_can_obj_t *self); -canio_bus_state_t common_hal_canio_can_state_get(canio_can_obj_t *self); -bool common_hal_canio_can_silent_get(canio_can_obj_t *self); -int common_hal_canio_can_transmit_error_count_get(canio_can_obj_t *self); -void common_hal_canio_can_auto_restart_set(canio_can_obj_t *self, bool auto_restart); -void common_hal_canio_can_check_for_deinit(canio_can_obj_t *self); -void common_hal_canio_can_deinit(canio_can_obj_t *self); -void common_hal_canio_can_restart(canio_can_obj_t *self); -void common_hal_canio_can_send(canio_can_obj_t *self, canio_message_obj_t *message); -void common_hal_canio_reset(void); diff --git a/shared-bindings/_canio/Listener.c b/shared-bindings/_canio/Listener.c deleted file mode 100644 index 6186f3bbd..000000000 --- a/shared-bindings/_canio/Listener.c +++ /dev/null @@ -1,193 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#include "shared-bindings/_canio/Listener.h" -#include "shared-bindings/_canio/Message.h" -#include "common-hal/_canio/Listener.h" - -#include "py/runtime.h" -#include "py/objproperty.h" - -//| class Listener: -//| """Listens for CAN message -//| -//| _canio.Listener is not constructed directly, but instead by calling the -//| Listen method of a _canio.CAN object.""" -//| - -//| def read(self) -> Optional[Message]: -//| """Reads a message, after waiting up to self.timeout seconds -//| -//| If no message is received in time, None is returned. Otherwise, -//| a Message is returned.""" -//| ... -//| -STATIC mp_obj_t canio_listener_read(mp_obj_t self_in) { - canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_listener_check_for_deinit(self); - - canio_message_obj_t *message = m_new_obj(canio_message_obj_t); - self->base.type = &canio_message_type; - - if (common_hal_canio_listener_readinto(self, message)) { - return message; - } else { - m_free(message); // message did not escape into vm - } - return mp_const_none; -} -STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_read_obj, canio_listener_read); - -//| def readinto(self, message: Message) -> bool: -//| """Returns True (and modifies message) if a message was received -//| before ``timeout`` seconds elapsed, False otherwise.""" -//| ... -//| -STATIC mp_obj_t canio_listener_readinto(mp_obj_t self_in, mp_obj_t message) { - canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); - mp_obj_type_t *type = mp_obj_get_type(message); - if (type != &canio_message_type) { - mp_raise_TypeError_varg(translate("expected '%q' but got '%q'"), MP_QSTR_Message, type->name); - } - common_hal_canio_listener_check_for_deinit(self); - return mp_obj_new_bool(common_hal_canio_listener_readinto(self, message)); -} -STATIC MP_DEFINE_CONST_FUN_OBJ_2(canio_listener_readinto_obj, canio_listener_readinto); - -//| def in_waiting(self) -> int: -//| """Returns the number of messages waiting""" -//| ... -//| -STATIC mp_obj_t canio_listener_in_waiting(mp_obj_t self_in) { - canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_listener_check_for_deinit(self); - return MP_OBJ_NEW_SMALL_INT(common_hal_canio_listener_in_waiting(self)); -} -STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_in_waiting_obj, canio_listener_in_waiting); - -//| def __iter__(self): -//| """Returns self, unless the object is deinitialized""" -//| ... -//| -STATIC mp_obj_t canio_listener_iter(mp_obj_t self_in) { - canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_listener_check_for_deinit(self); - return self; -} -STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_iter_obj, canio_listener_iter); - -//| def __next__(self): -//| """Reads a message, after waiting up to self.timeout seconds -//| -//| If no message is received in time, raises StopIteration. Otherwise, -//| a Message is returned.""" -//| ... -//| -STATIC mp_obj_t canio_listener_next(mp_obj_t self_in) { - mp_obj_t result = canio_listener_read(self_in); - if (result == mp_const_none) { - return MP_OBJ_STOP_ITERATION; - } - return result; -} -STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_next_obj, canio_listener_next); - -//| def deinit(self) -> None: -//| """Deinitialize this object, freeing its hardware resources""" -//| ... -//| -STATIC mp_obj_t canio_listener_deinit(mp_obj_t self_in) { - canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_listener_deinit(self); - return mp_const_none; -} -STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_deinit_obj, canio_listener_deinit); - -//| def __enter__(self) -> CAN: -//| """Returns self, to allow the object to be used in a `with` statement for resource control""" -//| ... -//| -STATIC mp_obj_t canio_listener_enter(mp_obj_t self_in) { - canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_listener_check_for_deinit(self); - return mp_const_none; -} -STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_enter_obj, canio_listener_enter); - -//| def __exit__(self, unused1, unused2, unused3) -> None: -//| """Calls deinit()""" -//| ... -STATIC mp_obj_t canio_listener_exit(size_t num_args, const mp_obj_t args[]) { - canio_listener_obj_t *self = MP_OBJ_TO_PTR(args[0]); - common_hal_canio_listener_deinit(self); - return mp_const_none; -} -STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(canio_listener_exit_obj, 4, 4, canio_listener_exit); - - -//| timeout : float -STATIC mp_obj_t canio_listener_timeout_get(mp_obj_t self_in) { - canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_listener_check_for_deinit(self); - return mp_obj_new_float(common_hal_canio_listener_get_timeout(self)); -} -STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_timeout_get_obj, canio_listener_timeout_get); - -STATIC mp_obj_t canio_listener_timeout_set(mp_obj_t self_in, mp_obj_t timeout_in) { - canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_listener_check_for_deinit(self); - common_hal_canio_listener_set_timeout(self, mp_obj_get_float(timeout_in)); - return mp_const_none; -} -STATIC MP_DEFINE_CONST_FUN_OBJ_2(canio_listener_timeout_set_obj, canio_listener_timeout_set); - -STATIC const mp_obj_property_t canio_listener_timeout_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_listener_timeout_get_obj, - (mp_obj_t)&canio_listener_timeout_set_obj, - (mp_obj_t)mp_const_none}, -}; - - - -STATIC const mp_rom_map_elem_t canio_listener_locals_dict_table[] = { - { MP_ROM_QSTR(MP_QSTR___enter__), MP_ROM_PTR(&canio_listener_enter_obj) }, - { MP_ROM_QSTR(MP_QSTR___exit__), MP_ROM_PTR(&canio_listener_exit_obj) }, - { MP_ROM_QSTR(MP_QSTR___iter__), MP_ROM_PTR(&canio_listener_iter_obj) }, - { MP_ROM_QSTR(MP_QSTR___next__), MP_ROM_PTR(&canio_listener_next_obj) }, - { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&canio_listener_deinit_obj) }, - { MP_ROM_QSTR(MP_QSTR_in_waiting), MP_ROM_PTR(&canio_listener_in_waiting_obj) }, - { MP_ROM_QSTR(MP_QSTR_read), MP_ROM_PTR(&canio_listener_read_obj) }, - { MP_ROM_QSTR(MP_QSTR_readinto), MP_ROM_PTR(&canio_listener_readinto_obj) }, - { MP_ROM_QSTR(MP_QSTR_timeout), MP_ROM_PTR(&canio_listener_timeout_obj) }, -}; -STATIC MP_DEFINE_CONST_DICT(canio_listener_locals_dict, canio_listener_locals_dict_table); - -const mp_obj_type_t canio_listener_type = { - { &mp_type_type }, - .name = MP_QSTR_Listener, - .locals_dict = (mp_obj_dict_t*)&canio_listener_locals_dict, -}; diff --git a/shared-bindings/_canio/Listener.h b/shared-bindings/_canio/Listener.h deleted file mode 100644 index eaa3490df..000000000 --- a/shared-bindings/_canio/Listener.h +++ /dev/null @@ -1,31 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#pragma once - -#include "py/obj.h" - -extern const mp_obj_type_t canio_listener_type; diff --git a/shared-bindings/_canio/Match.c b/shared-bindings/_canio/Match.c deleted file mode 100644 index 4ff35906b..000000000 --- a/shared-bindings/_canio/Match.c +++ /dev/null @@ -1,139 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#include "shared-bindings/_canio/Match.h" - -#include "py/objproperty.h" -#include "py/runtime.h" - -//| class Match: -//| """Describe CAN bus messages to match""" -//| -//| -//| def __init__(self, address: int, *, mask: int = 0, extended: bool = False): -//| """Construct a Match with the given properties. -//| -//| If mask is nonzero, then the filter is for any sender which matches all -//| the nonzero bits in mask. Otherwise, it matches exactly the given address. -//| If extended is true then only extended addresses are matched, otherwise -//| only standard addresses are matched.""" -//| - -STATIC mp_obj_t canio_match_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { - enum { ARG_address, ARG_mask, ARG_extended, NUM_ARGS }; - static const mp_arg_t allowed_args[] = { - { MP_QSTR_address, MP_ARG_INT | MP_ARG_REQUIRED }, - { MP_QSTR_mask, MP_ARG_INT, {.u_int = 0} }, - { MP_QSTR_extended, MP_ARG_BOOL, {.u_bool = false} }, - }; - mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; - MP_STATIC_ASSERT( MP_ARRAY_SIZE(allowed_args) == NUM_ARGS ); - - mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); - - int address_bits = args[ARG_extended].u_bool ? 0x1fffffff : 0x7ff; - int address = args[ARG_address].u_int; - int mask = args[ARG_mask].u_int; - - if (address & ~address_bits) { - mp_raise_ValueError_varg(translate("%q out of range"), MP_QSTR_address); - } - - if (mask & ~address_bits) { - mp_raise_ValueError_varg(translate("%q out of range"), MP_QSTR_mask); - } - - canio_match_obj_t *self = m_new_obj(canio_match_obj_t); - self->base.type = &canio_match_type; - common_hal_canio_match_construct(self, args[ARG_address].u_int, args[ARG_mask].u_int, args[ARG_extended].u_bool); - return self; -} - -//| address: int -//| """The address to match""" -//| - -STATIC mp_obj_t canio_match_address_get(mp_obj_t self_in) { - canio_match_obj_t *self = self_in; - return MP_OBJ_NEW_SMALL_INT(common_hal_canio_match_get_address(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_match_address_get_obj, canio_match_address_get); - -const mp_obj_property_t canio_match_address_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_match_address_get_obj, - (mp_obj_t)&mp_const_none_obj, - (mp_obj_t)&mp_const_none_obj}, -}; - -//| -//| mask: int -//| """The optional mask of addresses to match""" -//| - -STATIC mp_obj_t canio_match_mask_get(mp_obj_t self_in) { - canio_match_obj_t *self = self_in; - return MP_OBJ_NEW_SMALL_INT(common_hal_canio_match_get_mask(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_match_mask_get_obj, canio_match_mask_get); - -const mp_obj_property_t canio_match_mask_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_match_mask_get_obj, - (mp_obj_t)&mp_const_none_obj, - (mp_obj_t)&mp_const_none_obj}, -}; - -//| extended: bool -//| """True to match extended addresses, False to match standard addresses""" -//| - -STATIC mp_obj_t canio_match_extended_get(mp_obj_t self_in) { - canio_match_obj_t *self = self_in; - return mp_obj_new_bool(common_hal_canio_match_get_extended(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_match_extended_get_obj, canio_match_extended_get); - -const mp_obj_property_t canio_match_extended_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_match_extended_get_obj, - (mp_obj_t)&mp_const_none_obj, - (mp_obj_t)&mp_const_none_obj}, -}; - -STATIC const mp_rom_map_elem_t canio_match_locals_dict_table[] = { - { MP_ROM_QSTR(MP_QSTR_address), MP_ROM_PTR(&canio_match_address_obj) }, - { MP_ROM_QSTR(MP_QSTR_mask), MP_ROM_PTR(&canio_match_mask_obj) }, - { MP_ROM_QSTR(MP_QSTR_extended), MP_ROM_PTR(&canio_match_extended_obj) }, -}; -STATIC MP_DEFINE_CONST_DICT(canio_match_locals_dict, canio_match_locals_dict_table); - -const mp_obj_type_t canio_match_type = { - { &mp_type_type }, - .name = MP_QSTR_Match, - .make_new = canio_match_make_new, - .locals_dict = (mp_obj_dict_t*)&canio_match_locals_dict, -}; diff --git a/shared-bindings/_canio/Match.h b/shared-bindings/_canio/Match.h deleted file mode 100644 index 5522c2636..000000000 --- a/shared-bindings/_canio/Match.h +++ /dev/null @@ -1,37 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#pragma once - -#include "py/obj.h" -#include "shared-module/_canio/Match.h" - -extern const mp_obj_type_t canio_match_type; - -void common_hal_canio_match_construct(canio_match_obj_t *self, int address, int mask, bool extended); -int common_hal_canio_match_get_address(const canio_match_obj_t *self); -int common_hal_canio_match_get_mask(const canio_match_obj_t *self); -bool common_hal_canio_match_get_extended(const canio_match_obj_t *self); diff --git a/shared-bindings/_canio/Message.c b/shared-bindings/_canio/Message.c deleted file mode 100644 index 487ac9bfd..000000000 --- a/shared-bindings/_canio/Message.c +++ /dev/null @@ -1,212 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#include "shared-bindings/_canio/Message.h" - -#include "py/obj.h" -#include "py/objproperty.h" -#include "py/runtime.h" - -//| class Message: -//| def __init__(self, id: int=0, data: Optional[bytes] = None, *, size: Optional[int] = None, rtr: bool = False, extended: bool = False): -//| """Construct a Message to use with a CAN bus. Provide arguments to create a message to send. Otherwise, use Listener.readinto() to read a message. -//| -//| :param int id: The numeric ID of the message -//| :param bytes data: The content of the message -//| :param int size: The amount of data requested, for an rtr -//| :param bool rtr: True if the message represents an rtr (Remote Transmission Request) -//| :param bool extended: True if the message has an extended identifier, False if it has a standard identifier -//| -//| In CAN, messages can have a size from 0 to 8 bytes. -//| -//| For a non-rtr message, specify `data`. For an rtr-message, specify either `data` (a dummy buffer of the requested size) or `size`. -//| """ -//| ... -//| -STATIC mp_obj_t canio_message_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { - enum { ARG_id, ARG_data, ARG_size, ARG_rtr, ARG_extended, NUM_ARGS }; - static const mp_arg_t allowed_args[] = { - { MP_QSTR_id, MP_ARG_INT, {.u_obj = 0} }, - { MP_QSTR_data, MP_ARG_OBJ, {.u_obj = 0} }, - { MP_QSTR_size, MP_ARG_INT, {.u_int = -1} }, - { MP_QSTR_rtr, MP_ARG_BOOL, {.u_bool = false} }, - { MP_QSTR_extended, MP_ARG_BOOL, {.u_bool = false} }, - }; - mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; - MP_STATIC_ASSERT( MP_ARRAY_SIZE(allowed_args) == NUM_ARGS ); - - mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); - - bool rtr = args[ARG_rtr].u_bool; - bool extended = args[ARG_extended].u_bool; - size_t size = (size_t)args[ARG_size].u_int; - bool specified_size = (size != (size_t)-1); - bool specified_data = (args[ARG_data].u_obj != NULL); - - if (specified_size && specified_data) { - mp_raise_TypeError(translate("specify size or data, but not both")); - } - - mp_buffer_info_t data; - if (specified_data) { - mp_get_buffer_raise(args[ARG_data].u_obj, &data, MP_BUFFER_READ); - } else if (specified_size) { - data.buf = 0; - data.len = size; - } else { - data.buf = 0; - data.len = 0; - } - - if (data.len > 8) { - mp_raise_ValueError(translate("Messages limited to 8 bytes")); - } - - canio_message_obj_t *self = m_new_obj(canio_message_obj_t); - self->base.type = &canio_message_type; - common_hal_canio_message_construct(self, args[ARG_id].u_int, data.buf, data.len, rtr, extended); - return self; -} - -//| id: int -//| """The numeric ID of the message""" -//| -STATIC mp_obj_t canio_message_id_get(const mp_obj_t self_in) { - canio_message_obj_t *self = self_in; - return MP_OBJ_NEW_SMALL_INT(common_hal_canio_message_get_id(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_message_id_get_obj, canio_message_id_get); - -STATIC mp_obj_t canio_message_id_set(const mp_obj_t self_in, const mp_obj_t id) { - canio_message_obj_t *self = self_in; - common_hal_canio_message_set_id(self, mp_obj_get_int(id)); - return mp_const_none; -} -MP_DEFINE_CONST_FUN_OBJ_2(canio_message_id_set_obj, canio_message_id_set); - -STATIC const mp_obj_property_t canio_message_id_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_message_id_get_obj, - (mp_obj_t)&canio_message_id_set_obj, - (mp_obj_t)&mp_const_none_obj}, -}; - -//| data: bytes -//| """The content of the message, or dummy content in the case of an rtr. -//| -//| Assigning to data also sets the length and clears the rtr flag.""" -//| -STATIC mp_obj_t canio_message_data_get(const mp_obj_t self_in) { - canio_message_obj_t *self = self_in; - return mp_obj_new_bytes((const byte*)common_hal_canio_message_get_data(self), common_hal_canio_message_get_size(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_message_data_get_obj, canio_message_data_get); - -STATIC mp_obj_t canio_message_data_set(const mp_obj_t self_in, const mp_obj_t data_in) { - canio_message_obj_t *self = self_in; - mp_buffer_info_t data; - mp_get_buffer_raise(data_in, &data, MP_BUFFER_READ); - if (data.len > 8) { - mp_raise_ValueError(translate("Messages limited to 8 bytes")); - } - common_hal_canio_message_set_data(self, data.buf, data.len); - return mp_const_none; -} -MP_DEFINE_CONST_FUN_OBJ_2(canio_message_data_set_obj, canio_message_data_set); - - -STATIC const mp_obj_property_t canio_message_data_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_message_data_get_obj, - (mp_obj_t)&canio_message_data_set_obj, - (mp_obj_t)&mp_const_none_obj}, -}; - - -//| extended: bool -//| """True if the message represents a remote transmission request (RTR)""" -//| -STATIC mp_obj_t canio_message_extended_get(const mp_obj_t self_in) { - canio_message_obj_t *self = self_in; - return mp_obj_new_bool(common_hal_canio_message_get_extended(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_message_extended_get_obj, canio_message_extended_get); - -STATIC mp_obj_t canio_message_extended_set(const mp_obj_t self_in, const mp_obj_t extended) { - canio_message_obj_t *self = self_in; - common_hal_canio_message_set_extended(self, mp_obj_is_true(extended)); - return mp_const_none; -} -MP_DEFINE_CONST_FUN_OBJ_2(canio_message_extended_set_obj, canio_message_extended_set); - - -STATIC const mp_obj_property_t canio_message_extended_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_message_extended_get_obj, - (mp_obj_t)&canio_message_extended_set_obj, - (mp_obj_t)&mp_const_none_obj}, -}; - - -//| rtr: bool -//| """True if the message represents a remote transmission request (RTR). Setting rtr to true zeros out data""" -//| -STATIC mp_obj_t canio_message_rtr_get(const mp_obj_t self_in) { - canio_message_obj_t *self = self_in; - return mp_obj_new_bool(common_hal_canio_message_get_rtr(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_message_rtr_get_obj, canio_message_rtr_get); - -STATIC mp_obj_t canio_message_rtr_set(const mp_obj_t self_in, const mp_obj_t rtr) { - canio_message_obj_t *self = self_in; - common_hal_canio_message_set_rtr(self, mp_obj_is_true(rtr)); - return mp_const_none; -} -MP_DEFINE_CONST_FUN_OBJ_2(canio_message_rtr_set_obj, canio_message_rtr_set); - - -STATIC const mp_obj_property_t canio_message_rtr_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_message_rtr_get_obj, - (mp_obj_t)&canio_message_rtr_set_obj, - (mp_obj_t)&mp_const_none_obj}, -}; - - -STATIC const mp_rom_map_elem_t canio_message_locals_dict_table[] = { - { MP_ROM_QSTR(MP_QSTR_id), MP_ROM_PTR(&canio_message_id_obj) }, - { MP_ROM_QSTR(MP_QSTR_data), MP_ROM_PTR(&canio_message_data_obj) }, - { MP_ROM_QSTR(MP_QSTR_rtr), MP_ROM_PTR(&canio_message_rtr_obj) }, - { MP_ROM_QSTR(MP_QSTR_extended), MP_ROM_PTR(&canio_message_extended_obj) }, -}; -STATIC MP_DEFINE_CONST_DICT(canio_message_locals_dict, canio_message_locals_dict_table); - -const mp_obj_type_t canio_message_type = { - { &mp_type_type }, - .name = MP_QSTR_Message, - .make_new = canio_message_make_new, - .locals_dict = (mp_obj_t)&canio_message_locals_dict, -}; diff --git a/shared-bindings/_canio/Message.h b/shared-bindings/_canio/Message.h deleted file mode 100644 index ed739af0d..000000000 --- a/shared-bindings/_canio/Message.h +++ /dev/null @@ -1,44 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#pragma once - -#include "py/obj.h" -#include "shared-module/_canio/Message.h" - -extern const mp_obj_type_t canio_message_type; - -void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool rtr, bool extended); -const void *common_hal_canio_message_get_data(const canio_message_obj_t *self); -void common_hal_canio_message_set_data(canio_message_obj_t *self, const void *data, size_t size); -bool common_hal_canio_message_get_extended(const canio_message_obj_t *self); -void common_hal_canio_message_set_extended(canio_message_obj_t *self, bool extended); -int common_hal_canio_message_get_id(const canio_message_obj_t *self); -void common_hal_canio_message_set_id(canio_message_obj_t *self, int id); -bool common_hal_canio_message_get_rtr(const canio_message_obj_t *self); -void common_hal_canio_message_set_rtr(canio_message_obj_t *self, bool rtr); -size_t common_hal_canio_message_get_size(const canio_message_obj_t *self); -void common_hal_canio_message_set_size(canio_message_obj_t *self, size_t size); diff --git a/shared-bindings/_canio/__init__.c b/shared-bindings/_canio/__init__.c deleted file mode 100644 index 29e43c5c4..000000000 --- a/shared-bindings/_canio/__init__.c +++ /dev/null @@ -1,124 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -//| """CAN bus access -//| -//| The `_canio` module contains low level classes to support the CAN bus -//| protocol. -//| -//| CAN and Listener classes change hardware state and should be deinitialized when they -//| are no longer needed if the program continues after use. To do so, either -//| call :py:meth:`!deinit` or use a context manager. See -//| :ref:`lifetime-and-contextmanagers` for more info. -//| -//| For example:: -//| -//| import _canio -//| from board import * -//| -//| can = _canio.CAN(board.CAN_RX, board.CAN_TX, baudrate=1000000) -//| message = _canio.Message(id=0x0408, data="adafruit" -//| can.write(message)) -//| can.deinit() -//| -//| This example will write the data 'adafruit' onto the CAN bus to any -//| device listening for message id 0x0408. -//| -//| A CAN bus involves a transceiver, which is often a separate chip with a "standby" pin. -//| If your board has a CAN_STANDBY pin, ensure to set it to an output with the value False -//| to enable the transceiver. -//| -//| Other implementations of the CAN device may exist (for instance, attached -//| via an SPI bus). If so their constructor arguments may differ, but -//| otherwise we encourage implementors to follow the API that the core uses. -//| """ -//| - -#include "py/obj.h" -#include "py/enum.h" - -#include "shared-bindings/_canio/__init__.h" -#include "shared-bindings/_canio/CAN.h" -#include "shared-bindings/_canio/Match.h" -#include "shared-bindings/_canio/Message.h" -#include "shared-bindings/_canio/Listener.h" - -MAKE_ENUM_VALUE(canio_bus_state_type, bus_state, ERROR_ACTIVE, BUS_STATE_ERROR_ACTIVE); -MAKE_ENUM_VALUE(canio_bus_state_type, bus_state, ERROR_PASSIVE, BUS_STATE_ERROR_PASSIVE); -MAKE_ENUM_VALUE(canio_bus_state_type, bus_state, ERROR_WARNING, BUS_STATE_ERROR_WARNING); -MAKE_ENUM_VALUE(canio_bus_state_type, bus_state, BUS_OFF, BUS_STATE_OFF); - -//| class BusState: -//| """The state of the CAN bus""" -//| -//| ERROR_ACTIVE: object -//| """The bus is in the normal (active) state""" -//| -//| ERROR_WARNING: object -//| """The bus is in the normal (active) state, but a moderate number of errors have occurred recently. -//| -//| NOTE: Not all implementations may use ERROR_WARNING. Do not rely on seeing ERROR_WARNING before ERROR_PASSIVE.""" -//| -//| ERROR_PASSIVE: object -//| """The bus is in the passive state due to the number of errors that have occurred recently. -//| -//| This device will acknowledge packets it receives, but cannot transmit messages. -//| If additional errors occur, this device may progress to BUS_OFF. -//| If it successfully acknowledges other packets on the bus, it can return to ERROR_WARNING or ERROR_ACTIVE and transmit packets. -//| """ -//| -//| BUS_OFF: object -//| """The bus has turned off due to the number of errors that have -//| occurred recently. It must be restarted before it will send or receive -//| packets. This device will neither send or acknowledge packets on the bus.""" -//| -MAKE_ENUM_MAP(canio_bus_state) { - MAKE_ENUM_MAP_ENTRY(bus_state, ERROR_ACTIVE), - MAKE_ENUM_MAP_ENTRY(bus_state, ERROR_PASSIVE), - MAKE_ENUM_MAP_ENTRY(bus_state, ERROR_WARNING), - MAKE_ENUM_MAP_ENTRY(bus_state, BUS_OFF), -}; -STATIC MP_DEFINE_CONST_DICT(canio_bus_state_locals_dict, canio_bus_state_locals_table); - -MAKE_PRINTER(_canio, canio_bus_state); - -MAKE_ENUM_TYPE(_canio, BusState, canio_bus_state); - -STATIC const mp_rom_map_elem_t canio_module_globals_table[] = { - { MP_ROM_QSTR(MP_QSTR_BusState), MP_ROM_PTR(&canio_bus_state_type) }, - { MP_ROM_QSTR(MP_QSTR_CAN), MP_ROM_PTR(&canio_can_type) }, - { MP_ROM_QSTR(MP_QSTR_Listener), MP_ROM_PTR(&canio_listener_type) }, - { MP_ROM_QSTR(MP_QSTR_Match), MP_ROM_PTR(&canio_match_type) }, - { MP_ROM_QSTR(MP_QSTR_Message), MP_ROM_PTR(&canio_message_type) }, - { MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR__canio) }, -}; - -STATIC MP_DEFINE_CONST_DICT(canio_module_globals, canio_module_globals_table); - -const mp_obj_module_t canio_module = { - .base = { &mp_type_module }, - .globals = (mp_obj_dict_t*)&canio_module_globals, -}; diff --git a/shared-bindings/_canio/__init__.h b/shared-bindings/_canio/__init__.h deleted file mode 100644 index e24eba92c..000000000 --- a/shared-bindings/_canio/__init__.h +++ /dev/null @@ -1,33 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#pragma once - -typedef enum { - BUS_STATE_ERROR_ACTIVE, BUS_STATE_ERROR_PASSIVE, BUS_STATE_ERROR_WARNING, BUS_STATE_OFF -} canio_bus_state_t; - -extern const mp_obj_type_t canio_bus_state_type; diff --git a/shared-bindings/canio/CAN.c b/shared-bindings/canio/CAN.c new file mode 100644 index 000000000..482d11546 --- /dev/null +++ b/shared-bindings/canio/CAN.c @@ -0,0 +1,422 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "py/enum.h" +#include "common-hal/canio/CAN.h" +#include "common-hal/canio/Listener.h" +#include "shared-bindings/canio/__init__.h" +#include "shared-bindings/canio/CAN.h" +#include "shared-bindings/canio/Listener.h" +#include "shared-bindings/canio/Match.h" +#include "shared-bindings/canio/Message.h" +#include "shared-bindings/microcontroller/Pin.h" + +#include "py/objproperty.h" +#include "py/runtime.h" + +//| +//| class CAN: +//| """CAN bus protocol""" +//| +//| def __init__(self, +//| tx: microcontroller.Pin, +//| rx: microcontroller.Pin, +//| *, +//| baudrate: int = 250000, +//| loopback: bool = False, +//| silent: bool = False, +//| auto_restart: bool = False, +//| ): +//| """A common shared-bus protocol. The rx and tx pins are generally +//| connected to a transceiver which controls the H and L pins on a +//| shared bus. +//| +//| :param ~microcontroller.Pin rx: the pin to receive with +//| :param ~microcontroller.Pin tx: the pin to transmit with +//| :param int baudrate: The bit rate of the bus in Hz. All devices on the bus must agree on this value. +//| :param bool loopback: When True the ``rx`` pin's value is ignored, and the device receives the packets it sends. +//| :param bool silent: When True the ``tx`` pin is always driven to the high logic level. This mode can be used to "sniff" a CAN bus without interfering. +//| :param bool auto_restart: If True, will restart communications after entering bus-off state +//| """ +//| ... +//| +STATIC mp_obj_t canio_can_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + enum { ARG_rx, ARG_tx, ARG_baudrate, ARG_loopback, ARG_silent, ARG_auto_restart, NUM_ARGS }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_tx, MP_ARG_OBJ | MP_ARG_REQUIRED }, + { MP_QSTR_rx, MP_ARG_OBJ | MP_ARG_REQUIRED }, + { MP_QSTR_baudrate, MP_ARG_INT, {.u_int = 250000} }, + { MP_QSTR_loopback, MP_ARG_BOOL, {.u_bool = false} }, + { MP_QSTR_silent, MP_ARG_BOOL, {.u_bool = false} }, + { MP_QSTR_auto_restart, MP_ARG_BOOL, {.u_bool = false} }, + }; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + MP_STATIC_ASSERT( MP_ARRAY_SIZE(allowed_args) == NUM_ARGS ); + + mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + + mcu_pin_obj_t *rx_pin = validate_obj_is_free_pin_or_none(args[ARG_rx].u_obj); + mcu_pin_obj_t *tx_pin = validate_obj_is_free_pin_or_none(args[ARG_tx].u_obj); + if (!rx_pin && !tx_pin) { + mp_raise_ValueError(translate("tx and rx cannot both be None")); + } + + canio_can_obj_t *self = m_new_obj(canio_can_obj_t); + self->base.type = &canio_can_type; + common_hal_canio_can_construct(self, tx_pin, rx_pin, args[ARG_baudrate].u_int, args[ARG_loopback].u_bool, args[ARG_silent].u_bool); + + common_hal_canio_can_auto_restart_set(self, args[ARG_auto_restart].u_bool); + + return MP_OBJ_FROM_PTR(self); +} + + +//| auto_restart: bool +//| """If True, will restart communications after entering bus-off state""" +//| +STATIC mp_obj_t canio_can_auto_restart_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return mp_obj_new_bool(common_hal_canio_can_auto_restart_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_auto_restart_get_obj, canio_can_auto_restart_get); + +STATIC mp_obj_t canio_can_auto_restart_set(mp_obj_t self_in, mp_obj_t flag_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + common_hal_canio_can_auto_restart_set(self, mp_obj_is_true(flag_in)); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(canio_can_auto_restart_set_obj, canio_can_auto_restart_set); + +STATIC const mp_obj_property_t canio_can_auto_restart_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_auto_restart_get_obj, + (mp_obj_t)&canio_can_auto_restart_set_obj, + (mp_obj_t)mp_const_none}, +}; + + +//| baudrate: int +//| """The baud rate (read-only)""" +//| +STATIC mp_obj_t canio_can_baudrate_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_baudrate_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_baudrate_get_obj, canio_can_baudrate_get); + +STATIC const mp_obj_property_t canio_can_baudrate_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_baudrate_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + +//| transmit_error_count: int +//| """The number of transmit errors (read-only). Increased for a detected transmission error, decreased for successful transmission. Limited to the range from 0 to 255 inclusive. Also called TEC.""" +//| +STATIC mp_obj_t canio_can_transmit_error_count_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_transmit_error_count_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_transmit_error_count_get_obj, canio_can_transmit_error_count_get); + +STATIC const mp_obj_property_t canio_can_transmit_error_count_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_transmit_error_count_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + +//| receive_error_count: int +//| """The number of receive errors (read-only). Increased for a detected reception error, decreased for successful reception. Limited to the range from 0 to 255 inclusive. Also called REC.""" +//| +STATIC mp_obj_t canio_can_receive_error_count_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_receive_error_count_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_receive_error_count_get_obj, canio_can_receive_error_count_get); + +STATIC const mp_obj_property_t canio_can_receive_error_count_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_receive_error_count_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + +//| error_warning_state_count: int +//| """The number of times the controller enterted the Error Warning state (read-only). This number wraps around to 0 after an implementation-defined number of errors.""" +//| +STATIC mp_obj_t canio_can_error_warning_state_count_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_error_warning_state_count_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_error_warning_state_count_get_obj, canio_can_error_warning_state_count_get); + +STATIC const mp_obj_property_t canio_can_error_warning_state_count_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_error_warning_state_count_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + +//| error_passive_state_count: int +//| """The number of times the controller enterted the Error Passive state (read-only). This number wraps around to 0 after an implementation-defined number of errors.""" +//| +STATIC mp_obj_t canio_can_error_passive_state_count_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_error_passive_state_count_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_error_passive_state_count_get_obj, canio_can_error_passive_state_count_get); + +STATIC const mp_obj_property_t canio_can_error_passive_state_count_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_error_passive_state_count_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + +//| bus_off_state_count: int +//| """The number of times the controller enterted the Bus Off state (read-only). This number wraps around to 0 after an implementation-defined number of errors.""" +//| +STATIC mp_obj_t canio_can_bus_off_state_count_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_bus_off_state_count_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_bus_off_state_count_get_obj, canio_can_bus_off_state_count_get); + +STATIC const mp_obj_property_t canio_can_bus_off_state_count_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_bus_off_state_count_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + +//| state: State +//| """The current state of the bus.""" +STATIC mp_obj_t canio_can_state_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return cp_enum_find(&canio_bus_state_type, common_hal_canio_can_state_get(self)); +} + +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_state_get_obj, canio_can_state_get); + +STATIC const mp_obj_property_t canio_can_state_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_state_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + + +//| def restart(self) -> None: +//| """If the device is in the bus off state, restart it.""" +//| ... +//| +STATIC mp_obj_t canio_can_restart(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + common_hal_canio_can_restart(self); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_can_restart_obj, canio_can_restart); + +//| def listen(self, match: Optional[Sequence[Match]]=None, *, timeout: float=10) -> Listener: +//| """Start receiving messages that match any one of the filters. +//| +//| Creating a listener is an expensive operation and can interfere with reception of messages by other listeners. +//| +//| There is an implementation-defined maximum number of listeners and limit to the complexity of the filters. +//| +//| If the hardware cannot support all the requested matches, a ValueError is raised. Note that generally there are some number of hardware filters shared among all fifos. +//| +//| A message can be received by at most one Listener. If more than one listener matches a message, it is undefined which one actually receives it. +//| +//| An empty filter list causes all messages to be accepted. +//| +//| Timeout dictates how long readinto, read and next() will block.""" +//| ... +//| +STATIC mp_obj_t canio_can_listen(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]); + common_hal_canio_can_check_for_deinit(self); + + enum { ARG_match, ARG_timeout, NUM_ARGS }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_match, MP_ARG_OBJ, {.u_obj = 0} }, + { MP_QSTR_timeout, MP_ARG_OBJ, {.u_obj = 0} }, + }; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + MP_STATIC_ASSERT( MP_ARRAY_SIZE(allowed_args) == NUM_ARGS ); + + mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + + size_t nmatch = 0; + mp_obj_t *match_objects = NULL; + + if (args[ARG_match].u_obj) { + mp_obj_get_array(args[ARG_match].u_obj, &nmatch, &match_objects); + } + + canio_match_obj_t *matches[nmatch]; + for (size_t i=0; iname); + } + matches[i] = MP_OBJ_TO_PTR(match_objects[i]); + } + + float timeout = args[ARG_timeout].u_obj ? mp_obj_get_float(args[ARG_timeout].u_obj) : 10.0f; + canio_listener_obj_t *listener = m_new_obj(canio_listener_obj_t); + listener->base.type = &canio_listener_type; + common_hal_canio_listener_construct(listener, self, nmatch, matches, timeout); + return listener; +} +MP_DEFINE_CONST_FUN_OBJ_KW(canio_can_listen_obj, 1, canio_can_listen); + +//| loopback: bool +//| """True if the device was created in loopback mode, False otherwise""" +//| +STATIC mp_obj_t canio_can_loopback_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return mp_obj_new_bool(common_hal_canio_can_loopback_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_loopback_get_obj, canio_can_loopback_get); + +STATIC const mp_obj_property_t canio_can_loopback_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_loopback_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + + +//| def send(message: Message) -> None: +//| """Send a message on the bus with the given data and id. +//| If the message could not be sent due to a full fifo or a bus error condition, RuntimeError is raised. +//| """ +//| ... +//| +STATIC mp_obj_t canio_can_send(mp_obj_t self_in, mp_obj_t message_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + mp_obj_type_t *message_type = mp_obj_get_type(message_in); + if (message_type != &canio_message_type) { + mp_raise_TypeError_varg(translate("expected '%q' but got '%q'"), MP_QSTR_Message, message_type->name); + } + + canio_message_obj_t *message = message_in; + common_hal_canio_can_send(self, message); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(canio_can_send_obj, canio_can_send); + +//| silent: bool +//| """True if the device was created in silent mode, False otherwise""" +//| +STATIC mp_obj_t canio_can_silent_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return mp_obj_new_bool(common_hal_canio_can_silent_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_silent_get_obj, canio_can_silent_get); + +STATIC const mp_obj_property_t canio_can_silent_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_silent_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + + +//| def deinit(self) -> None: +//| """Deinitialize this object, freeing its hardware resources""" +//| ... +//| +STATIC mp_obj_t canio_can_deinit(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_deinit(self); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_can_deinit_obj, canio_can_deinit); + +//| def __enter__(self) -> CAN: +//| """Returns self, to allow the object to be used in a `with` statement for resource control""" +//| ... +//| +STATIC mp_obj_t canio_can_enter(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_can_enter_obj, canio_can_enter); + +//| def __exit__(self, unused1, unused2, unused3) -> None: +//| """Calls deinit()""" +//| ... +STATIC mp_obj_t canio_can_exit(size_t num_args, const mp_obj_t args[]) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(args[0]); + common_hal_canio_can_deinit(self); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(canio_can_exit_obj, 4, 4, canio_can_exit); + +STATIC const mp_rom_map_elem_t canio_can_locals_dict_table[] = { + { MP_ROM_QSTR(MP_QSTR___enter__), MP_ROM_PTR(&canio_can_enter_obj) }, + { MP_ROM_QSTR(MP_QSTR___exit__), MP_ROM_PTR(&canio_can_exit_obj) }, + { MP_ROM_QSTR(MP_QSTR_auto_restart), MP_ROM_PTR(&canio_can_auto_restart_obj) }, + { MP_ROM_QSTR(MP_QSTR_baudrate), MP_ROM_PTR(&canio_can_baudrate_obj) }, + { MP_ROM_QSTR(MP_QSTR_bus_off_state_count), MP_ROM_PTR(&canio_can_bus_off_state_count_obj) }, + { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&canio_can_deinit_obj) }, + { MP_ROM_QSTR(MP_QSTR_error_passive_state_count), MP_ROM_PTR(&canio_can_error_passive_state_count_obj) }, + { MP_ROM_QSTR(MP_QSTR_error_warning_state_count), MP_ROM_PTR(&canio_can_error_warning_state_count_obj) }, + { MP_ROM_QSTR(MP_QSTR_listen), MP_ROM_PTR(&canio_can_listen_obj) }, + { MP_ROM_QSTR(MP_QSTR_loopback), MP_ROM_PTR(&canio_can_loopback_obj) }, + { MP_ROM_QSTR(MP_QSTR_receive_error_count), MP_ROM_PTR(&canio_can_receive_error_count_obj) }, + { MP_ROM_QSTR(MP_QSTR_restart), MP_ROM_PTR(&canio_can_restart_obj) }, + { MP_ROM_QSTR(MP_QSTR_send), MP_ROM_PTR(&canio_can_send_obj) }, + { MP_ROM_QSTR(MP_QSTR_silent), MP_ROM_PTR(&canio_can_silent_obj) }, + { MP_ROM_QSTR(MP_QSTR_state), MP_ROM_PTR(&canio_can_state_obj) }, + { MP_ROM_QSTR(MP_QSTR_transmit_error_count), MP_ROM_PTR(&canio_can_transmit_error_count_obj) }, +}; +STATIC MP_DEFINE_CONST_DICT(canio_can_locals_dict, canio_can_locals_dict_table); + +const mp_obj_type_t canio_can_type = { + { &mp_type_type }, + .name = MP_QSTR_CAN, + .make_new = canio_can_make_new, + .locals_dict = (mp_obj_t)&canio_can_locals_dict, +}; diff --git a/shared-bindings/canio/CAN.h b/shared-bindings/canio/CAN.h new file mode 100644 index 000000000..66c972c28 --- /dev/null +++ b/shared-bindings/canio/CAN.h @@ -0,0 +1,54 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#pragma once + +#include "py/obj.h" +#include "shared-bindings/microcontroller/Pin.h" +#include "shared-bindings/canio/Message.h" + +extern const mp_obj_type_t canio_can_type; + +typedef struct canio_can_obj canio_can_obj_t; + +void common_hal_canio_can_construct(canio_can_obj_t *self, mcu_pin_obj_t *tx, mcu_pin_obj_t *rx, int baudrate, bool loopback, bool silent); +bool common_hal_canio_can_auto_restart_get(canio_can_obj_t *self); +bool common_hal_canio_can_deinited(canio_can_obj_t *self); +int common_hal_canio_can_baudrate_get(canio_can_obj_t *self); +int common_hal_canio_can_bus_off_state_count_get(canio_can_obj_t *self); +int common_hal_canio_can_error_passive_state_count_get(canio_can_obj_t *self); +int common_hal_canio_can_error_warning_state_count_get(canio_can_obj_t *self); +bool common_hal_canio_can_loopback_get(canio_can_obj_t *self); +int common_hal_canio_can_receive_error_count_get(canio_can_obj_t *self); +canio_bus_state_t common_hal_canio_can_state_get(canio_can_obj_t *self); +bool common_hal_canio_can_silent_get(canio_can_obj_t *self); +int common_hal_canio_can_transmit_error_count_get(canio_can_obj_t *self); +void common_hal_canio_can_auto_restart_set(canio_can_obj_t *self, bool auto_restart); +void common_hal_canio_can_check_for_deinit(canio_can_obj_t *self); +void common_hal_canio_can_deinit(canio_can_obj_t *self); +void common_hal_canio_can_restart(canio_can_obj_t *self); +void common_hal_canio_can_send(canio_can_obj_t *self, canio_message_obj_t *message); +void common_hal_canio_reset(void); diff --git a/shared-bindings/canio/Listener.c b/shared-bindings/canio/Listener.c new file mode 100644 index 000000000..0b50e5835 --- /dev/null +++ b/shared-bindings/canio/Listener.c @@ -0,0 +1,193 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "shared-bindings/canio/Listener.h" +#include "shared-bindings/canio/Message.h" +#include "common-hal/canio/Listener.h" + +#include "py/runtime.h" +#include "py/objproperty.h" + +//| class Listener: +//| """Listens for CAN message +//| +//| _canio.Listener is not constructed directly, but instead by calling the +//| Listen method of a _canio.CAN object.""" +//| + +//| def read(self) -> Optional[Message]: +//| """Reads a message, after waiting up to self.timeout seconds +//| +//| If no message is received in time, None is returned. Otherwise, +//| a Message is returned.""" +//| ... +//| +STATIC mp_obj_t canio_listener_read(mp_obj_t self_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_check_for_deinit(self); + + canio_message_obj_t *message = m_new_obj(canio_message_obj_t); + self->base.type = &canio_message_type; + + if (common_hal_canio_listener_readinto(self, message)) { + return message; + } else { + m_free(message); // message did not escape into vm + } + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_read_obj, canio_listener_read); + +//| def readinto(self, message: Message) -> bool: +//| """Returns True (and modifies message) if a message was received +//| before ``timeout`` seconds elapsed, False otherwise.""" +//| ... +//| +STATIC mp_obj_t canio_listener_readinto(mp_obj_t self_in, mp_obj_t message) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + mp_obj_type_t *type = mp_obj_get_type(message); + if (type != &canio_message_type) { + mp_raise_TypeError_varg(translate("expected '%q' but got '%q'"), MP_QSTR_Message, type->name); + } + common_hal_canio_listener_check_for_deinit(self); + return mp_obj_new_bool(common_hal_canio_listener_readinto(self, message)); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_2(canio_listener_readinto_obj, canio_listener_readinto); + +//| def in_waiting(self) -> int: +//| """Returns the number of messages waiting""" +//| ... +//| +STATIC mp_obj_t canio_listener_in_waiting(mp_obj_t self_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_listener_in_waiting(self)); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_in_waiting_obj, canio_listener_in_waiting); + +//| def __iter__(self): +//| """Returns self, unless the object is deinitialized""" +//| ... +//| +STATIC mp_obj_t canio_listener_iter(mp_obj_t self_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_check_for_deinit(self); + return self; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_iter_obj, canio_listener_iter); + +//| def __next__(self): +//| """Reads a message, after waiting up to self.timeout seconds +//| +//| If no message is received in time, raises StopIteration. Otherwise, +//| a Message is returned.""" +//| ... +//| +STATIC mp_obj_t canio_listener_next(mp_obj_t self_in) { + mp_obj_t result = canio_listener_read(self_in); + if (result == mp_const_none) { + return MP_OBJ_STOP_ITERATION; + } + return result; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_next_obj, canio_listener_next); + +//| def deinit(self) -> None: +//| """Deinitialize this object, freeing its hardware resources""" +//| ... +//| +STATIC mp_obj_t canio_listener_deinit(mp_obj_t self_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_deinit(self); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_deinit_obj, canio_listener_deinit); + +//| def __enter__(self) -> CAN: +//| """Returns self, to allow the object to be used in a `with` statement for resource control""" +//| ... +//| +STATIC mp_obj_t canio_listener_enter(mp_obj_t self_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_check_for_deinit(self); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_enter_obj, canio_listener_enter); + +//| def __exit__(self, unused1, unused2, unused3) -> None: +//| """Calls deinit()""" +//| ... +STATIC mp_obj_t canio_listener_exit(size_t num_args, const mp_obj_t args[]) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(args[0]); + common_hal_canio_listener_deinit(self); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(canio_listener_exit_obj, 4, 4, canio_listener_exit); + + +//| timeout : float +STATIC mp_obj_t canio_listener_timeout_get(mp_obj_t self_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_check_for_deinit(self); + return mp_obj_new_float(common_hal_canio_listener_get_timeout(self)); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_timeout_get_obj, canio_listener_timeout_get); + +STATIC mp_obj_t canio_listener_timeout_set(mp_obj_t self_in, mp_obj_t timeout_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_check_for_deinit(self); + common_hal_canio_listener_set_timeout(self, mp_obj_get_float(timeout_in)); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_2(canio_listener_timeout_set_obj, canio_listener_timeout_set); + +STATIC const mp_obj_property_t canio_listener_timeout_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_listener_timeout_get_obj, + (mp_obj_t)&canio_listener_timeout_set_obj, + (mp_obj_t)mp_const_none}, +}; + + + +STATIC const mp_rom_map_elem_t canio_listener_locals_dict_table[] = { + { MP_ROM_QSTR(MP_QSTR___enter__), MP_ROM_PTR(&canio_listener_enter_obj) }, + { MP_ROM_QSTR(MP_QSTR___exit__), MP_ROM_PTR(&canio_listener_exit_obj) }, + { MP_ROM_QSTR(MP_QSTR___iter__), MP_ROM_PTR(&canio_listener_iter_obj) }, + { MP_ROM_QSTR(MP_QSTR___next__), MP_ROM_PTR(&canio_listener_next_obj) }, + { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&canio_listener_deinit_obj) }, + { MP_ROM_QSTR(MP_QSTR_in_waiting), MP_ROM_PTR(&canio_listener_in_waiting_obj) }, + { MP_ROM_QSTR(MP_QSTR_read), MP_ROM_PTR(&canio_listener_read_obj) }, + { MP_ROM_QSTR(MP_QSTR_readinto), MP_ROM_PTR(&canio_listener_readinto_obj) }, + { MP_ROM_QSTR(MP_QSTR_timeout), MP_ROM_PTR(&canio_listener_timeout_obj) }, +}; +STATIC MP_DEFINE_CONST_DICT(canio_listener_locals_dict, canio_listener_locals_dict_table); + +const mp_obj_type_t canio_listener_type = { + { &mp_type_type }, + .name = MP_QSTR_Listener, + .locals_dict = (mp_obj_dict_t*)&canio_listener_locals_dict, +}; diff --git a/shared-bindings/canio/Listener.h b/shared-bindings/canio/Listener.h new file mode 100644 index 000000000..eaa3490df --- /dev/null +++ b/shared-bindings/canio/Listener.h @@ -0,0 +1,31 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#pragma once + +#include "py/obj.h" + +extern const mp_obj_type_t canio_listener_type; diff --git a/shared-bindings/canio/Match.c b/shared-bindings/canio/Match.c new file mode 100644 index 000000000..ff5d028fa --- /dev/null +++ b/shared-bindings/canio/Match.c @@ -0,0 +1,139 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "shared-bindings/canio/Match.h" + +#include "py/objproperty.h" +#include "py/runtime.h" + +//| class Match: +//| """Describe CAN bus messages to match""" +//| +//| +//| def __init__(self, address: int, *, mask: int = 0, extended: bool = False): +//| """Construct a Match with the given properties. +//| +//| If mask is nonzero, then the filter is for any sender which matches all +//| the nonzero bits in mask. Otherwise, it matches exactly the given address. +//| If extended is true then only extended addresses are matched, otherwise +//| only standard addresses are matched.""" +//| + +STATIC mp_obj_t canio_match_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + enum { ARG_address, ARG_mask, ARG_extended, NUM_ARGS }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_address, MP_ARG_INT | MP_ARG_REQUIRED }, + { MP_QSTR_mask, MP_ARG_INT, {.u_int = 0} }, + { MP_QSTR_extended, MP_ARG_BOOL, {.u_bool = false} }, + }; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + MP_STATIC_ASSERT( MP_ARRAY_SIZE(allowed_args) == NUM_ARGS ); + + mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + + int address_bits = args[ARG_extended].u_bool ? 0x1fffffff : 0x7ff; + int address = args[ARG_address].u_int; + int mask = args[ARG_mask].u_int; + + if (address & ~address_bits) { + mp_raise_ValueError_varg(translate("%q out of range"), MP_QSTR_address); + } + + if (mask & ~address_bits) { + mp_raise_ValueError_varg(translate("%q out of range"), MP_QSTR_mask); + } + + canio_match_obj_t *self = m_new_obj(canio_match_obj_t); + self->base.type = &canio_match_type; + common_hal_canio_match_construct(self, args[ARG_address].u_int, args[ARG_mask].u_int, args[ARG_extended].u_bool); + return self; +} + +//| address: int +//| """The address to match""" +//| + +STATIC mp_obj_t canio_match_address_get(mp_obj_t self_in) { + canio_match_obj_t *self = self_in; + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_match_get_address(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_match_address_get_obj, canio_match_address_get); + +const mp_obj_property_t canio_match_address_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_match_address_get_obj, + (mp_obj_t)&mp_const_none_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + +//| +//| mask: int +//| """The optional mask of addresses to match""" +//| + +STATIC mp_obj_t canio_match_mask_get(mp_obj_t self_in) { + canio_match_obj_t *self = self_in; + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_match_get_mask(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_match_mask_get_obj, canio_match_mask_get); + +const mp_obj_property_t canio_match_mask_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_match_mask_get_obj, + (mp_obj_t)&mp_const_none_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + +//| extended: bool +//| """True to match extended addresses, False to match standard addresses""" +//| + +STATIC mp_obj_t canio_match_extended_get(mp_obj_t self_in) { + canio_match_obj_t *self = self_in; + return mp_obj_new_bool(common_hal_canio_match_get_extended(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_match_extended_get_obj, canio_match_extended_get); + +const mp_obj_property_t canio_match_extended_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_match_extended_get_obj, + (mp_obj_t)&mp_const_none_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + +STATIC const mp_rom_map_elem_t canio_match_locals_dict_table[] = { + { MP_ROM_QSTR(MP_QSTR_address), MP_ROM_PTR(&canio_match_address_obj) }, + { MP_ROM_QSTR(MP_QSTR_mask), MP_ROM_PTR(&canio_match_mask_obj) }, + { MP_ROM_QSTR(MP_QSTR_extended), MP_ROM_PTR(&canio_match_extended_obj) }, +}; +STATIC MP_DEFINE_CONST_DICT(canio_match_locals_dict, canio_match_locals_dict_table); + +const mp_obj_type_t canio_match_type = { + { &mp_type_type }, + .name = MP_QSTR_Match, + .make_new = canio_match_make_new, + .locals_dict = (mp_obj_dict_t*)&canio_match_locals_dict, +}; diff --git a/shared-bindings/canio/Match.h b/shared-bindings/canio/Match.h new file mode 100644 index 000000000..88996d730 --- /dev/null +++ b/shared-bindings/canio/Match.h @@ -0,0 +1,37 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#pragma once + +#include "py/obj.h" +#include "shared-module/canio/Match.h" + +extern const mp_obj_type_t canio_match_type; + +void common_hal_canio_match_construct(canio_match_obj_t *self, int address, int mask, bool extended); +int common_hal_canio_match_get_address(const canio_match_obj_t *self); +int common_hal_canio_match_get_mask(const canio_match_obj_t *self); +bool common_hal_canio_match_get_extended(const canio_match_obj_t *self); diff --git a/shared-bindings/canio/Message.c b/shared-bindings/canio/Message.c new file mode 100644 index 000000000..11de6ded9 --- /dev/null +++ b/shared-bindings/canio/Message.c @@ -0,0 +1,212 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "shared-bindings/canio/Message.h" + +#include "py/obj.h" +#include "py/objproperty.h" +#include "py/runtime.h" + +//| class Message: +//| def __init__(self, id: int=0, data: Optional[bytes] = None, *, size: Optional[int] = None, rtr: bool = False, extended: bool = False): +//| """Construct a Message to use with a CAN bus. Provide arguments to create a message to send. Otherwise, use Listener.readinto() to read a message. +//| +//| :param int id: The numeric ID of the message +//| :param bytes data: The content of the message +//| :param int size: The amount of data requested, for an rtr +//| :param bool rtr: True if the message represents an rtr (Remote Transmission Request) +//| :param bool extended: True if the message has an extended identifier, False if it has a standard identifier +//| +//| In CAN, messages can have a size from 0 to 8 bytes. +//| +//| For a non-rtr message, specify `data`. For an rtr-message, specify either `data` (a dummy buffer of the requested size) or `size`. +//| """ +//| ... +//| +STATIC mp_obj_t canio_message_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + enum { ARG_id, ARG_data, ARG_size, ARG_rtr, ARG_extended, NUM_ARGS }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_id, MP_ARG_INT, {.u_obj = 0} }, + { MP_QSTR_data, MP_ARG_OBJ, {.u_obj = 0} }, + { MP_QSTR_size, MP_ARG_INT, {.u_int = -1} }, + { MP_QSTR_rtr, MP_ARG_BOOL, {.u_bool = false} }, + { MP_QSTR_extended, MP_ARG_BOOL, {.u_bool = false} }, + }; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + MP_STATIC_ASSERT( MP_ARRAY_SIZE(allowed_args) == NUM_ARGS ); + + mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + + bool rtr = args[ARG_rtr].u_bool; + bool extended = args[ARG_extended].u_bool; + size_t size = (size_t)args[ARG_size].u_int; + bool specified_size = (size != (size_t)-1); + bool specified_data = (args[ARG_data].u_obj != NULL); + + if (specified_size && specified_data) { + mp_raise_TypeError(translate("specify size or data, but not both")); + } + + mp_buffer_info_t data; + if (specified_data) { + mp_get_buffer_raise(args[ARG_data].u_obj, &data, MP_BUFFER_READ); + } else if (specified_size) { + data.buf = 0; + data.len = size; + } else { + data.buf = 0; + data.len = 0; + } + + if (data.len > 8) { + mp_raise_ValueError(translate("Messages limited to 8 bytes")); + } + + canio_message_obj_t *self = m_new_obj(canio_message_obj_t); + self->base.type = &canio_message_type; + common_hal_canio_message_construct(self, args[ARG_id].u_int, data.buf, data.len, rtr, extended); + return self; +} + +//| id: int +//| """The numeric ID of the message""" +//| +STATIC mp_obj_t canio_message_id_get(const mp_obj_t self_in) { + canio_message_obj_t *self = self_in; + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_message_get_id(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_message_id_get_obj, canio_message_id_get); + +STATIC mp_obj_t canio_message_id_set(const mp_obj_t self_in, const mp_obj_t id) { + canio_message_obj_t *self = self_in; + common_hal_canio_message_set_id(self, mp_obj_get_int(id)); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(canio_message_id_set_obj, canio_message_id_set); + +STATIC const mp_obj_property_t canio_message_id_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_message_id_get_obj, + (mp_obj_t)&canio_message_id_set_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + +//| data: bytes +//| """The content of the message, or dummy content in the case of an rtr. +//| +//| Assigning to data also sets the length and clears the rtr flag.""" +//| +STATIC mp_obj_t canio_message_data_get(const mp_obj_t self_in) { + canio_message_obj_t *self = self_in; + return mp_obj_new_bytes((const byte*)common_hal_canio_message_get_data(self), common_hal_canio_message_get_size(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_message_data_get_obj, canio_message_data_get); + +STATIC mp_obj_t canio_message_data_set(const mp_obj_t self_in, const mp_obj_t data_in) { + canio_message_obj_t *self = self_in; + mp_buffer_info_t data; + mp_get_buffer_raise(data_in, &data, MP_BUFFER_READ); + if (data.len > 8) { + mp_raise_ValueError(translate("Messages limited to 8 bytes")); + } + common_hal_canio_message_set_data(self, data.buf, data.len); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(canio_message_data_set_obj, canio_message_data_set); + + +STATIC const mp_obj_property_t canio_message_data_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_message_data_get_obj, + (mp_obj_t)&canio_message_data_set_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + + +//| extended: bool +//| """True if the message represents a remote transmission request (RTR)""" +//| +STATIC mp_obj_t canio_message_extended_get(const mp_obj_t self_in) { + canio_message_obj_t *self = self_in; + return mp_obj_new_bool(common_hal_canio_message_get_extended(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_message_extended_get_obj, canio_message_extended_get); + +STATIC mp_obj_t canio_message_extended_set(const mp_obj_t self_in, const mp_obj_t extended) { + canio_message_obj_t *self = self_in; + common_hal_canio_message_set_extended(self, mp_obj_is_true(extended)); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(canio_message_extended_set_obj, canio_message_extended_set); + + +STATIC const mp_obj_property_t canio_message_extended_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_message_extended_get_obj, + (mp_obj_t)&canio_message_extended_set_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + + +//| rtr: bool +//| """True if the message represents a remote transmission request (RTR). Setting rtr to true zeros out data""" +//| +STATIC mp_obj_t canio_message_rtr_get(const mp_obj_t self_in) { + canio_message_obj_t *self = self_in; + return mp_obj_new_bool(common_hal_canio_message_get_rtr(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_message_rtr_get_obj, canio_message_rtr_get); + +STATIC mp_obj_t canio_message_rtr_set(const mp_obj_t self_in, const mp_obj_t rtr) { + canio_message_obj_t *self = self_in; + common_hal_canio_message_set_rtr(self, mp_obj_is_true(rtr)); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(canio_message_rtr_set_obj, canio_message_rtr_set); + + +STATIC const mp_obj_property_t canio_message_rtr_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_message_rtr_get_obj, + (mp_obj_t)&canio_message_rtr_set_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + + +STATIC const mp_rom_map_elem_t canio_message_locals_dict_table[] = { + { MP_ROM_QSTR(MP_QSTR_id), MP_ROM_PTR(&canio_message_id_obj) }, + { MP_ROM_QSTR(MP_QSTR_data), MP_ROM_PTR(&canio_message_data_obj) }, + { MP_ROM_QSTR(MP_QSTR_rtr), MP_ROM_PTR(&canio_message_rtr_obj) }, + { MP_ROM_QSTR(MP_QSTR_extended), MP_ROM_PTR(&canio_message_extended_obj) }, +}; +STATIC MP_DEFINE_CONST_DICT(canio_message_locals_dict, canio_message_locals_dict_table); + +const mp_obj_type_t canio_message_type = { + { &mp_type_type }, + .name = MP_QSTR_Message, + .make_new = canio_message_make_new, + .locals_dict = (mp_obj_t)&canio_message_locals_dict, +}; diff --git a/shared-bindings/canio/Message.h b/shared-bindings/canio/Message.h new file mode 100644 index 000000000..34b632e84 --- /dev/null +++ b/shared-bindings/canio/Message.h @@ -0,0 +1,44 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#pragma once + +#include "py/obj.h" +#include "shared-module/canio/Message.h" + +extern const mp_obj_type_t canio_message_type; + +void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool rtr, bool extended); +const void *common_hal_canio_message_get_data(const canio_message_obj_t *self); +void common_hal_canio_message_set_data(canio_message_obj_t *self, const void *data, size_t size); +bool common_hal_canio_message_get_extended(const canio_message_obj_t *self); +void common_hal_canio_message_set_extended(canio_message_obj_t *self, bool extended); +int common_hal_canio_message_get_id(const canio_message_obj_t *self); +void common_hal_canio_message_set_id(canio_message_obj_t *self, int id); +bool common_hal_canio_message_get_rtr(const canio_message_obj_t *self); +void common_hal_canio_message_set_rtr(canio_message_obj_t *self, bool rtr); +size_t common_hal_canio_message_get_size(const canio_message_obj_t *self); +void common_hal_canio_message_set_size(canio_message_obj_t *self, size_t size); diff --git a/shared-bindings/canio/__init__.c b/shared-bindings/canio/__init__.c new file mode 100644 index 000000000..bc191913d --- /dev/null +++ b/shared-bindings/canio/__init__.c @@ -0,0 +1,124 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +//| """CAN bus access +//| +//| The `_canio` module contains low level classes to support the CAN bus +//| protocol. +//| +//| CAN and Listener classes change hardware state and should be deinitialized when they +//| are no longer needed if the program continues after use. To do so, either +//| call :py:meth:`!deinit` or use a context manager. See +//| :ref:`lifetime-and-contextmanagers` for more info. +//| +//| For example:: +//| +//| import _canio +//| from board import * +//| +//| can = _canio.CAN(board.CAN_RX, board.CAN_TX, baudrate=1000000) +//| message = _canio.Message(id=0x0408, data="adafruit" +//| can.write(message)) +//| can.deinit() +//| +//| This example will write the data 'adafruit' onto the CAN bus to any +//| device listening for message id 0x0408. +//| +//| A CAN bus involves a transceiver, which is often a separate chip with a "standby" pin. +//| If your board has a CAN_STANDBY pin, ensure to set it to an output with the value False +//| to enable the transceiver. +//| +//| Other implementations of the CAN device may exist (for instance, attached +//| via an SPI bus). If so their constructor arguments may differ, but +//| otherwise we encourage implementors to follow the API that the core uses. +//| """ +//| + +#include "py/obj.h" +#include "py/enum.h" + +#include "shared-bindings/canio/__init__.h" +#include "shared-bindings/canio/CAN.h" +#include "shared-bindings/canio/Match.h" +#include "shared-bindings/canio/Message.h" +#include "shared-bindings/canio/Listener.h" + +MAKE_ENUM_VALUE(canio_bus_state_type, bus_state, ERROR_ACTIVE, BUS_STATE_ERROR_ACTIVE); +MAKE_ENUM_VALUE(canio_bus_state_type, bus_state, ERROR_PASSIVE, BUS_STATE_ERROR_PASSIVE); +MAKE_ENUM_VALUE(canio_bus_state_type, bus_state, ERROR_WARNING, BUS_STATE_ERROR_WARNING); +MAKE_ENUM_VALUE(canio_bus_state_type, bus_state, BUS_OFF, BUS_STATE_OFF); + +//| class BusState: +//| """The state of the CAN bus""" +//| +//| ERROR_ACTIVE: object +//| """The bus is in the normal (active) state""" +//| +//| ERROR_WARNING: object +//| """The bus is in the normal (active) state, but a moderate number of errors have occurred recently. +//| +//| NOTE: Not all implementations may use ERROR_WARNING. Do not rely on seeing ERROR_WARNING before ERROR_PASSIVE.""" +//| +//| ERROR_PASSIVE: object +//| """The bus is in the passive state due to the number of errors that have occurred recently. +//| +//| This device will acknowledge packets it receives, but cannot transmit messages. +//| If additional errors occur, this device may progress to BUS_OFF. +//| If it successfully acknowledges other packets on the bus, it can return to ERROR_WARNING or ERROR_ACTIVE and transmit packets. +//| """ +//| +//| BUS_OFF: object +//| """The bus has turned off due to the number of errors that have +//| occurred recently. It must be restarted before it will send or receive +//| packets. This device will neither send or acknowledge packets on the bus.""" +//| +MAKE_ENUM_MAP(canio_bus_state) { + MAKE_ENUM_MAP_ENTRY(bus_state, ERROR_ACTIVE), + MAKE_ENUM_MAP_ENTRY(bus_state, ERROR_PASSIVE), + MAKE_ENUM_MAP_ENTRY(bus_state, ERROR_WARNING), + MAKE_ENUM_MAP_ENTRY(bus_state, BUS_OFF), +}; +STATIC MP_DEFINE_CONST_DICT(canio_bus_state_locals_dict, canio_bus_state_locals_table); + +MAKE_PRINTER(_canio, canio_bus_state); + +MAKE_ENUM_TYPE(_canio, BusState, canio_bus_state); + +STATIC const mp_rom_map_elem_t canio_module_globals_table[] = { + { MP_ROM_QSTR(MP_QSTR_BusState), MP_ROM_PTR(&canio_bus_state_type) }, + { MP_ROM_QSTR(MP_QSTR_CAN), MP_ROM_PTR(&canio_can_type) }, + { MP_ROM_QSTR(MP_QSTR_Listener), MP_ROM_PTR(&canio_listener_type) }, + { MP_ROM_QSTR(MP_QSTR_Match), MP_ROM_PTR(&canio_match_type) }, + { MP_ROM_QSTR(MP_QSTR_Message), MP_ROM_PTR(&canio_message_type) }, + { MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR__canio) }, +}; + +STATIC MP_DEFINE_CONST_DICT(canio_module_globals, canio_module_globals_table); + +const mp_obj_module_t canio_module = { + .base = { &mp_type_module }, + .globals = (mp_obj_dict_t*)&canio_module_globals, +}; diff --git a/shared-bindings/canio/__init__.h b/shared-bindings/canio/__init__.h new file mode 100644 index 000000000..e24eba92c --- /dev/null +++ b/shared-bindings/canio/__init__.h @@ -0,0 +1,33 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#pragma once + +typedef enum { + BUS_STATE_ERROR_ACTIVE, BUS_STATE_ERROR_PASSIVE, BUS_STATE_ERROR_WARNING, BUS_STATE_OFF +} canio_bus_state_t; + +extern const mp_obj_type_t canio_bus_state_type; diff --git a/shared-module/_canio/Match.c b/shared-module/_canio/Match.c deleted file mode 100644 index 3dcde18a7..000000000 --- a/shared-module/_canio/Match.c +++ /dev/null @@ -1,43 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#include "shared-module/_canio/Match.h" - -void common_hal_canio_match_construct(canio_match_obj_t *self, int address, int mask, bool extended) { - self->address = address; - self->mask = mask; - self->extended = extended; -} - -int common_hal_canio_match_get_address(const canio_match_obj_t *self) { - return self->address; -} -int common_hal_canio_match_get_mask(const canio_match_obj_t *self) { - return self->mask; -} -bool common_hal_canio_match_get_extended(const canio_match_obj_t *self) { - return self->extended; -} diff --git a/shared-module/_canio/Match.h b/shared-module/_canio/Match.h deleted file mode 100644 index 25f047f37..000000000 --- a/shared-module/_canio/Match.h +++ /dev/null @@ -1,36 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#pragma once - -#include "py/obj.h" - -typedef struct { - mp_obj_base_t base; - int address; - int mask; - bool extended; -} canio_match_obj_t; diff --git a/shared-module/_canio/Message.c b/shared-module/_canio/Message.c deleted file mode 100644 index a02bd0127..000000000 --- a/shared-module/_canio/Message.c +++ /dev/null @@ -1,101 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#include "shared-module/_canio/Message.h" - -#include - -void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool rtr, bool extended) -{ - self->id = id; - self->size = size; - self->rtr = rtr; - self->extended = extended; - if (data) { - memcpy(self->data, data, size); - } else { - memset(self->data, 0, size); - } -} - -int common_hal_canio_message_get_id(const canio_message_obj_t *self) -{ - return self->id; -} - -void common_hal_canio_message_set_id(canio_message_obj_t *self, int id) -{ - self->id = id; -} - - -const void *common_hal_canio_message_get_data(const canio_message_obj_t *self) -{ - return self->data; -} - -const void common_hal_canio_message_set_data(canio_message_obj_t *self, const void *data, size_t size) -{ - self->rtr = false; - self->size = size; - memcpy(self->data, data, size); -} - - -size_t common_hal_canio_message_get_size(const canio_message_obj_t *self) -{ - return self->size; -} - -void common_hal_canio_message_set_size(canio_message_obj_t *self, size_t size) -{ - memset(self->data, 0, size); - self->size = size; -} - - -bool common_hal_canio_message_get_rtr(const canio_message_obj_t *self) -{ - return self->rtr; -} - -void common_hal_canio_message_set_rtr(canio_message_obj_t *self, bool rtr) -{ - self->rtr = rtr; - if (rtr) { - memset(self->data, 0, self->size); - } -} - -bool common_hal_canio_message_get_extended(const canio_message_obj_t *self) -{ - return self->extended; -} - -void common_hal_canio_message_set_extended(canio_message_obj_t *self, bool extended) -{ - self->extended = extended; -} diff --git a/shared-module/_canio/Message.h b/shared-module/_canio/Message.h deleted file mode 100644 index b99c5c48e..000000000 --- a/shared-module/_canio/Message.h +++ /dev/null @@ -1,38 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#pragma once - -#include "py/obj.h" - -typedef struct { - mp_obj_base_t base; - int id; - uint8_t data[8]; - size_t size:4; - bool rtr:1; - bool extended:1; -} canio_message_obj_t; diff --git a/shared-module/canio/Match.c b/shared-module/canio/Match.c new file mode 100644 index 000000000..9e33b956f --- /dev/null +++ b/shared-module/canio/Match.c @@ -0,0 +1,43 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "shared-module/canio/Match.h" + +void common_hal_canio_match_construct(canio_match_obj_t *self, int address, int mask, bool extended) { + self->address = address; + self->mask = mask; + self->extended = extended; +} + +int common_hal_canio_match_get_address(const canio_match_obj_t *self) { + return self->address; +} +int common_hal_canio_match_get_mask(const canio_match_obj_t *self) { + return self->mask; +} +bool common_hal_canio_match_get_extended(const canio_match_obj_t *self) { + return self->extended; +} diff --git a/shared-module/canio/Match.h b/shared-module/canio/Match.h new file mode 100644 index 000000000..25f047f37 --- /dev/null +++ b/shared-module/canio/Match.h @@ -0,0 +1,36 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#pragma once + +#include "py/obj.h" + +typedef struct { + mp_obj_base_t base; + int address; + int mask; + bool extended; +} canio_match_obj_t; diff --git a/shared-module/canio/Message.c b/shared-module/canio/Message.c new file mode 100644 index 000000000..b8ebb7859 --- /dev/null +++ b/shared-module/canio/Message.c @@ -0,0 +1,101 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "shared-module/canio/Message.h" + +#include + +void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool rtr, bool extended) +{ + self->id = id; + self->size = size; + self->rtr = rtr; + self->extended = extended; + if (data) { + memcpy(self->data, data, size); + } else { + memset(self->data, 0, size); + } +} + +int common_hal_canio_message_get_id(const canio_message_obj_t *self) +{ + return self->id; +} + +void common_hal_canio_message_set_id(canio_message_obj_t *self, int id) +{ + self->id = id; +} + + +const void *common_hal_canio_message_get_data(const canio_message_obj_t *self) +{ + return self->data; +} + +const void common_hal_canio_message_set_data(canio_message_obj_t *self, const void *data, size_t size) +{ + self->rtr = false; + self->size = size; + memcpy(self->data, data, size); +} + + +size_t common_hal_canio_message_get_size(const canio_message_obj_t *self) +{ + return self->size; +} + +void common_hal_canio_message_set_size(canio_message_obj_t *self, size_t size) +{ + memset(self->data, 0, size); + self->size = size; +} + + +bool common_hal_canio_message_get_rtr(const canio_message_obj_t *self) +{ + return self->rtr; +} + +void common_hal_canio_message_set_rtr(canio_message_obj_t *self, bool rtr) +{ + self->rtr = rtr; + if (rtr) { + memset(self->data, 0, self->size); + } +} + +bool common_hal_canio_message_get_extended(const canio_message_obj_t *self) +{ + return self->extended; +} + +void common_hal_canio_message_set_extended(canio_message_obj_t *self, bool extended) +{ + self->extended = extended; +} diff --git a/shared-module/canio/Message.h b/shared-module/canio/Message.h new file mode 100644 index 000000000..b99c5c48e --- /dev/null +++ b/shared-module/canio/Message.h @@ -0,0 +1,38 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#pragma once + +#include "py/obj.h" + +typedef struct { + mp_obj_base_t base; + int id; + uint8_t data[8]; + size_t size:4; + bool rtr:1; + bool extended:1; +} canio_message_obj_t; -- cgit v1.2.3 From d01b9ce933048c69c7611cd4f512baa040f2f101 Mon Sep 17 00:00:00 2001 From: microDev <70126934+microDev1@users.noreply.github.com> Date: Wed, 7 Oct 2020 22:15:05 +0530 Subject: Disable auto-reload in safe mode --- main.c | 19 +++++++++---------- 1 file changed, 9 insertions(+), 10 deletions(-) (limited to 'main.c') diff --git a/main.c b/main.c index dbd367a59..1f7352b0e 100755 --- a/main.c +++ b/main.c @@ -249,10 +249,7 @@ bool run_code_py(safe_mode_t safe_mode) { serial_write("\n"); if (autoreload_is_enabled()) { serial_write_compressed(translate("Auto-reload is on. Simply save files over USB to run them or enter REPL to disable.\n")); - } else if (safe_mode != NO_SAFE_MODE) { - serial_write_compressed(translate("Running in safe mode! ")); - serial_write_compressed(translate("Auto-reload is off.\n")); - } else if (!autoreload_is_enabled()) { + } else { serial_write_compressed(translate("Auto-reload is off.\n")); } } @@ -322,16 +319,16 @@ bool run_code_py(safe_mode_t safe_mode) { } if (!serial_connected_before_animation && serial_connected()) { - if (serial_connected_at_start) { - serial_write("\n\n"); - } - if (!serial_connected_at_start) { if (autoreload_is_enabled()) { serial_write_compressed(translate("Auto-reload is on. Simply save files over USB to run them or enter REPL to disable.\n")); } else { serial_write_compressed(translate("Auto-reload is off.\n")); } + if (safe_mode != NO_SAFE_MODE) { + serial_write_compressed(translate("Running in safe mode! ")); + serial_write_compressed(translate("Not running saved code.\n")); + } } print_safe_mode_message(safe_mode); serial_write("\n"); @@ -486,8 +483,10 @@ int __attribute__((used)) main(void) { reset_devices(); reset_board(); - // Turn on autoreload by default but before boot.py in case it wants to change it. - autoreload_enable(); + // If not in safe mode turn on autoreload by default but before boot.py in case it wants to change it. + if (safe_mode == NO_SAFE_MODE) { + autoreload_enable(); + } // By default our internal flash is readonly to local python code and // writable over USB. Set it here so that boot.py can change it. -- cgit v1.2.3 From 8487a51995d708b6ade7f714600b37ee6e7d4a5a Mon Sep 17 00:00:00 2001 From: microDev <70126934+microDev1@users.noreply.github.com> Date: Wed, 7 Oct 2020 23:53:08 +0530 Subject: Factor out code.py status messages --- main.c | 33 +++++++++++++++------------------ 1 file changed, 15 insertions(+), 18 deletions(-) (limited to 'main.c') diff --git a/main.c b/main.c index 1f7352b0e..b43b3b8c8 100755 --- a/main.c +++ b/main.c @@ -242,16 +242,24 @@ void cleanup_after_vm(supervisor_allocation* heap) { reset_status_led(); } +void print_code_py_status_message(safe_mode_t safe_mode) { + if (autoreload_is_enabled()) { + serial_write_compressed(translate("Auto-reload is on. Simply save files over USB to run them or enter REPL to disable.\n")); + } else { + serial_write_compressed(translate("Auto-reload is off.\n")); + } + if (safe_mode != NO_SAFE_MODE) { + serial_write_compressed(translate("Running in safe mode! ")); + serial_write_compressed(translate("Not running saved code.\n")); + } +} + bool run_code_py(safe_mode_t safe_mode) { bool serial_connected_at_start = serial_connected(); #if CIRCUITPY_AUTORELOAD_DELAY_MS > 0 if (serial_connected_at_start) { serial_write("\n"); - if (autoreload_is_enabled()) { - serial_write_compressed(translate("Auto-reload is on. Simply save files over USB to run them or enter REPL to disable.\n")); - } else { - serial_write_compressed(translate("Auto-reload is off.\n")); - } + print_code_py_status_message(safe_mode); } #endif @@ -263,10 +271,7 @@ bool run_code_py(safe_mode_t safe_mode) { bool found_main = false; - if (safe_mode != NO_SAFE_MODE) { - serial_write_compressed(translate("Running in safe mode! ")); - serial_write_compressed(translate("Not running saved code.\n")); - } else { + if (safe_mode == NO_SAFE_MODE) { new_status_color(MAIN_RUNNING); static const char * const supported_filenames[] = STRING_LIST("code.txt", "code.py", "main.py", "main.txt"); @@ -320,15 +325,7 @@ bool run_code_py(safe_mode_t safe_mode) { if (!serial_connected_before_animation && serial_connected()) { if (!serial_connected_at_start) { - if (autoreload_is_enabled()) { - serial_write_compressed(translate("Auto-reload is on. Simply save files over USB to run them or enter REPL to disable.\n")); - } else { - serial_write_compressed(translate("Auto-reload is off.\n")); - } - if (safe_mode != NO_SAFE_MODE) { - serial_write_compressed(translate("Running in safe mode! ")); - serial_write_compressed(translate("Not running saved code.\n")); - } + print_code_py_status_message(safe_mode); } print_safe_mode_message(safe_mode); serial_write("\n"); -- cgit v1.2.3 From f4f80e07ca3dc2f5a93484e5342540837a94a505 Mon Sep 17 00:00:00 2001 From: Christian Walther Date: Sat, 24 Oct 2020 17:23:17 +0200 Subject: Fix lost board.SPI and board.I2C after being used by display. Fixes #3581. Pins were marked as never_reset by common_hal_displayio_fourwire_construct() and common_hal_sharpdisplay_framebuffer_construct(), but these marks were never removed, so at the end of a session after displayio.release_displays(), {spi|i2c}_singleton would be set to NULL but the pins would not be reset. In the next session, board.SPI() and board.I2C() were unable to reconstruct the object because the pins were still in use. For symmetry with creation of the singleton, add deinitialization before setting it to NULL in reset_board_busses(). This makes the pins resettable, so that reset_port(), moved behind it, then resets them. --- main.c | 4 +++- shared-module/board/__init__.c | 14 +++++++++----- 2 files changed, 12 insertions(+), 6 deletions(-) (limited to 'main.c') diff --git a/main.c b/main.c index b43b3b8c8..80b163f60 100755 --- a/main.c +++ b/main.c @@ -234,10 +234,12 @@ void cleanup_after_vm(supervisor_allocation* heap) { common_hal_canio_reset(); #endif - reset_port(); + // reset_board_busses() first because it may release pins from the never_reset state, so that + // reset_port() can reset them. #if CIRCUITPY_BOARD reset_board_busses(); #endif + reset_port(); reset_board(); reset_status_led(); } diff --git a/shared-module/board/__init__.c b/shared-module/board/__init__.c index 856103b7b..967b430d2 100644 --- a/shared-module/board/__init__.c +++ b/shared-module/board/__init__.c @@ -145,8 +145,11 @@ void reset_board_busses(void) { } } #endif - if (!display_using_i2c) { - i2c_singleton = NULL; + if (i2c_singleton != NULL) { + if (!display_using_i2c) { + common_hal_busio_i2c_deinit(i2c_singleton); + i2c_singleton = NULL; + } } #endif #if BOARD_SPI @@ -169,9 +172,10 @@ void reset_board_busses(void) { // make sure SPI lock is not held over a soft reset if (spi_singleton != NULL) { common_hal_busio_spi_unlock(spi_singleton); - } - if (!display_using_spi) { - spi_singleton = NULL; + if (!display_using_spi) { + common_hal_busio_spi_deinit(spi_singleton); + spi_singleton = NULL; + } } #endif #if BOARD_UART -- cgit v1.2.3